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ekf2: estimator aid source status (starting with fake position)

This commit is contained in:
Daniel Agar 2022-03-15 10:27:46 -04:00
parent 79a34b5aed
commit 1ae467e9cd
13 changed files with 287 additions and 97 deletions
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3
.ci/Jenkinsfile-hardware
View File

@ -864,12 +864,13 @@ void printTopics() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'

3
msg/CMakeLists.txt
View File

@ -77,6 +77,9 @@ set(msg_files
estimator_states.msg
estimator_status.msg
estimator_status_flags.msg
estimator_aid_source_1d.msg
estimator_aid_source_2d.msg
estimator_aid_source_3d.msg
event.msg
follow_target.msg
failure_detector_status.msg

21
msg/estimator_aid_source_1d.msg Normal file
View File

@ -0,0 +1,21 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 estimator_instance
uint32 device_id
uint64 time_last_fuse
float32 observation
float32 observation_variance
float32 innovation
float32 innovation_variance
float32 test_ratio
bool fusion_enabled # true when measurements are being fused
bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_1d

22
msg/estimator_aid_source_2d.msg Normal file
View File

@ -0,0 +1,22 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 estimator_instance
uint32 device_id
uint64[2] time_last_fuse
float32[2] observation
float32[2] observation_variance
float32[2] innovation
float32[2] innovation_variance
float32[2] test_ratio
bool[2] fusion_enabled # true when measurements are being fused
bool[2] innovation_rejected # true if the observation has been rejected
bool[2] fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_2d
# TOPICS estimator_aid_src_fake_pos

21
msg/estimator_aid_source_3d.msg Normal file
View File

@ -0,0 +1,21 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint8 estimator_instance
uint32 device_id
uint64[3] time_last_fuse
float32[3] observation
float32[3] observation_variance
float32[3] innovation
float32[3] innovation_variance
float32[3] test_ratio
bool[3] fusion_enabled # true when measurements are being fused
bool[3] innovation_rejected # true if the observation has been rejected
bool[3] fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_3d

70
src/modules/ekf2/EKF/ekf.h
View File

@ -48,6 +48,10 @@
#include "EKFGSF_yaw.h"
#include "baro_bias_estimator.hpp"
#include <uORB/topics/estimator_aid_source_1d.h>
#include <uORB/topics/estimator_aid_source_2d.h>
#include <uORB/topics/estimator_aid_source_3d.h>
class Ekf final : public EstimatorInterface
{
public:
@ -336,6 +340,8 @@ public:
const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
private:
// set the internal states and status to their default value
@ -394,7 +400,6 @@ private:
uint64_t _time_last_flow_terrain_fuse{0}; ///< time the last fusion of optical flow measurements for terrain estimation were performed (uSec)
uint64_t _time_last_arsp_fuse{0}; ///< time the last fusion of airspeed measurements were performed (uSec)
uint64_t _time_last_beta_fuse{0}; ///< time the last fusion of synthetic sideslip measurements were performed (uSec)
uint64_t _time_last_fake_pos_fuse{0}; ///< last time we faked position measurements to constrain tilt errors during operation without external aiding (uSec)
uint64_t _time_last_zero_velocity_fuse{0}; ///< last time of zero velocity update (uSec)
uint64_t _time_last_gps_yaw_fuse{0}; ///< time the last fusion of GPS yaw measurements were performed (uSec)
uint64_t _time_last_gps_yaw_data{0}; ///< time the last GPS yaw measurement was available (uSec)
@ -491,6 +496,8 @@ private:
bool _inhibit_flow_use{false}; ///< true when use of optical flow and range finder is being inhibited
Vector2f _flow_compensated_XY_rad{}; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
estimator_aid_source_2d_s _aid_src_fake_pos{};
// output predictor states
Vector3f _delta_angle_corr{}; ///< delta angle correction vector (rad)
Vector3f _vel_err_integ{}; ///< integral of velocity tracking error (m)
@ -676,7 +683,7 @@ private:
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseHorizontalPosition(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratiov, bool inhibit_gate = false);
Vector3f &innov_var, Vector2f &test_ratiov);
bool fuseVerticalPosition(float innov, float innov_gate, float obs_var,
float &innov_var, float &test_ratio);
@ -1048,6 +1055,65 @@ private:
bool isYawEmergencyEstimateAvailable() const;
void resetGpsDriftCheckFilters();
bool resetEstimatorAidStatusFlags(estimator_aid_source_1d_s &status)
{
if (status.timestamp_sample != 0) {
status.timestamp_sample = 0;
status.fusion_enabled = false;
status.innovation_rejected = false;
status.fused = false;
return true;
}
return false;
}
void resetEstimatorAidStatus(estimator_aid_source_1d_s &status)
{
if (resetEstimatorAidStatusFlags(status)) {
status.observation = 0;
status.observation_variance = 0;
status.innovation = 0;
status.innovation_variance = 0;
status.test_ratio = 0;
}
}
template <typename T>
bool resetEstimatorAidStatusFlags(T &status)
{
if (status.timestamp_sample != 0) {
status.timestamp_sample = 0;
for (size_t i = 0; i < (sizeof(status.fusion_enabled) / sizeof(status.fusion_enabled[0])); i++) {
status.fusion_enabled[i] = false;
status.innovation_rejected[i] = false;
status.fused[i] = false;
}
return true;
}
return false;
}
template <typename T>
void resetEstimatorAidStatus(T &status)
{
if (resetEstimatorAidStatusFlags(status)) {
for (size_t i = 0; i < (sizeof(status.fusion_enabled) / sizeof(status.fusion_enabled[0])); i++) {
status.observation[i] = 0;
status.observation_variance[i] = 0;
status.innovation[i] = 0;
status.innovation_variance[i] = 0;
status.test_ratio[i] = 0;
}
}
}
};
#endif // !EKF_EKF_H

59
src/modules/ekf2/EKF/fake_pos_control.cpp
View File

@ -40,9 +40,14 @@
void Ekf::controlFakePosFusion()
{
auto &fake_pos = _aid_src_fake_pos;
// clear
resetEstimatorAidStatusFlags(fake_pos);
// If we aren't doing any aiding, fake position measurements at the last known position to constrain drift
// During intial tilt aligment, fake position is used to perform a "quasi-stationary" leveling of the EKF
const bool fake_pos_data_ready = isTimedOut(_time_last_fake_pos_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate
const bool fake_pos_data_ready = isTimedOut(fake_pos.time_last_fuse[0], (uint64_t)2e5); // Fuse fake position at a limited rate
if (fake_pos_data_ready) {
const bool continuing_conditions_passing = !isHorizontalAidingActive();
@ -52,7 +57,7 @@ void Ekf::controlFakePosFusion()
if (continuing_conditions_passing) {
fuseFakePosition();
const bool is_fusion_failing = isTimedOut(_time_last_fake_pos_fuse, (uint64_t)4e5);
const bool is_fusion_failing = isTimedOut(fake_pos.time_last_fuse[0], (uint64_t)4e5);
if (is_fusion_failing) {
resetFakePosFusion();
@ -79,6 +84,7 @@ void Ekf::controlFakePosFusion()
void Ekf::startFakePosFusion()
{
if (!_using_synthetic_position) {
ECL_INFO("start fake position fusion");
_using_synthetic_position = true;
_fuse_hpos_as_odom = false; // TODO: needed?
resetFakePosFusion();
@ -87,39 +93,66 @@ void Ekf::startFakePosFusion()
void Ekf::resetFakePosFusion()
{
ECL_INFO("reset fake position fusion");
_last_known_posNE = _state.pos.xy();
resetHorizontalPositionToLastKnown();
resetHorizontalVelocityToZero();
_time_last_fake_pos_fuse = _time_last_imu;
_aid_src_fake_pos.time_last_fuse[0] = _time_last_imu;
_aid_src_fake_pos.time_last_fuse[1] = _time_last_imu;
}
void Ekf::stopFakePosFusion()
{
_using_synthetic_position = false;
if (_using_synthetic_position) {
ECL_INFO("stop fake position fusion");
_using_synthetic_position = false;
resetEstimatorAidStatus(_aid_src_fake_pos);
}
}
void Ekf::fuseFakePosition()
{
Vector3f fake_pos_obs_var;
Vector2f obs_var;
if (_control_status.flags.in_air && _control_status.flags.tilt_align) {
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise));
obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise));
} else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) {
// Accelerate tilt fine alignment by fusing more
// aggressively when the vehicle is at rest
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.01f);
obs_var(0) = obs_var(1) = sq(0.01f);
} else {
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.5f);
obs_var(0) = obs_var(1) = sq(0.5f);
}
_gps_pos_innov.xy() = Vector2f(_state.pos) - _last_known_posNE;
const float innov_gate = 3.f;
const float fake_pos_innov_gate = 3.f;
auto &fake_pos = _aid_src_fake_pos;
if (fuseHorizontalPosition(_gps_pos_innov, fake_pos_innov_gate, fake_pos_obs_var,
_gps_pos_innov_var, _gps_pos_test_ratio, true)) {
_time_last_fake_pos_fuse = _time_last_imu;
for (int i = 0; i < 2; i++) {
fake_pos.observation[i] = _last_known_posNE(i);
fake_pos.observation_variance[i] = obs_var(i);
fake_pos.innovation[i] = _state.pos(i) - _last_known_posNE(i);
fake_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
fake_pos.test_ratio[i] = sq(fake_pos.innovation[i]) / (sq(innov_gate) * fake_pos.innovation_variance[i]);
fake_pos.innovation_rejected[i] = (fake_pos.test_ratio[i] > 1.f);
// always protect against extreme values that could result in a NaN
fake_pos.fusion_enabled[i] = fake_pos.test_ratio[i] < sq(100.0f / innov_gate);
if (fake_pos.fusion_enabled[i] && !fake_pos.innovation_rejected[i]) {
if (fuseVelPosHeight(fake_pos.innovation[i], fake_pos.innovation_variance[i], 3 + i)) {
fake_pos.fused[i] = true;
fake_pos.time_last_fuse[i] = _time_last_imu;
}
}
}
fake_pos.timestamp_sample = _time_last_imu;
}

9
src/modules/ekf2/EKF/vel_pos_fusion.cpp
View File

@ -102,7 +102,7 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const float innov_gate, co
}
bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio, bool inhibit_gate)
Vector3f &innov_var, Vector2f &test_ratio)
{
innov_var(0) = P(7, 7) + obs_var(0);
@ -112,12 +112,7 @@ bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const float innov_gate,
const bool innov_check_pass = test_ratio(0) <= 1.0f;
if (innov_check_pass || inhibit_gate) {
if (inhibit_gate && test_ratio(0) > sq(100.0f / innov_gate)) {
// always protect against extreme values that could result in a NaN
return false;
}
if (innov_check_pass) {
_innov_check_fail_status.flags.reject_hor_pos = false;
bool fuse_x = fuseVelPosHeight(innov(0), innov_var(0), 3);

8
src/modules/ekf2/EKF2.cpp
View File

@ -614,6 +614,8 @@ void EKF2::Run()
UpdateMagCalibration(now);
PublishSensorBias(now);
PublishAidSourceStatus(now);
} else {
// ekf no update
perf_set_elapsed(_ecl_ekf_update_perf, hrt_elapsed_time(&ekf_update_start));
@ -632,6 +634,12 @@ void EKF2::Run()
ScheduleDelayed(100_ms);
}
void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
{
// fake position
PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
}
void EKF2::PublishAttitude(const hrt_abstime &timestamp)
{
if (_ekf.attitude_valid()) {

20
src/modules/ekf2/EKF2.hpp
View File

@ -135,6 +135,7 @@ private:
void Run() override;
void PublishAidSourceStatus(const hrt_abstime &timestamp);
void PublishAttitude(const hrt_abstime &timestamp);
void PublishBaroBias(const hrt_abstime &timestamp);
void PublishEventFlags(const hrt_abstime &timestamp);
@ -167,6 +168,21 @@ private:
void UpdateGyroCalibration(const hrt_abstime &timestamp);
void UpdateMagCalibration(const hrt_abstime &timestamp);
// publish helper for estimator_aid_source topics
template <typename T>
void PublishAidSourceStatus(const T &status, hrt_abstime &status_publish_last, uORB::PublicationMulti<T> &pub)
{
if (status.timestamp_sample > status_publish_last) {
// publish if updated
T status_out{status};
status_out.estimator_instance = _instance;
status_out.timestamp = hrt_absolute_time();
pub.publish(status_out);
// record timestamp sample
status_publish_last = status.timestamp_sample;
}
}
/*
* Calculate filtered WGS84 height from estimated AMSL height
@ -239,6 +255,8 @@ private:
hrt_abstime _last_sensor_bias_published{0};
hrt_abstime _last_gps_status_published{0};
hrt_abstime _status_fake_pos_pub_last{0};
float _last_baro_bias_published{};
float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
@ -298,6 +316,8 @@ private:
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
// publications with topic dependent on multi-mode
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;
uORB::PublicationMulti<vehicle_local_position_s> _local_position_pub;

116
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -14,8 +14,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
1190000,1,-0.0112,-0.0137,-0.0166,0.0163,-0.0049,-0.155,0.00161,-0.000401,-0.0818,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,1.85e-06,0.00506,0.00506,0.00108,0.85,0.85,0.491,0.151,0.151,0.328,9.88e-07,9.88e-07,6.56e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
1290000,1,-0.0113,-0.0139,-0.0166,0.0212,-0.00611,-0.169,0.00349,-0.000977,-0.098,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.06e-06,0.0056,0.0056,0.00108,1.03,1.03,0.5,0.214,0.214,0.402,9.88e-07,9.88e-07,5.97e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
1390000,1,-0.0114,-0.0142,-0.0166,0.0275,-0.00825,-0.181,0.00597,-0.00168,-0.115,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.31e-06,0.00618,0.00619,0.00108,1.26,1.26,0.509,0.301,0.301,0.487,9.88e-07,9.88e-07,5.41e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
1490000,1,-0.0114,-0.0143,-0.0166,0.0277,-0.00795,-0.196,0.00506,-0.00142,-0.134,-4.58e-07,-2.01e-06,-2.38e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.42e-06,0.00637,0.00637,0.00108,1.01,1.01,0.519,0.189,0.189,0.582,9.62e-07,9.62e-07,4.87e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
1590000,1,-0.0114,-0.0146,-0.0166,0.0346,-0.00911,-0.209,0.00815,-0.00227,-0.155,-4.58e-07,-2.01e-06,-2.38e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.7e-06,0.00702,0.00702,0.00107,1.3,1.3,0.53,0.268,0.268,0.689,9.62e-07,9.62e-07,4.38e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
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1590000,1,-0.0114,-0.0146,-0.0166,0.0346,-0.00911,-0.209,0.00815,-0.00227,-0.155,-4.58e-07,-2.01e-06,-2.37e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.7e-06,0.00702,0.00702,0.00107,1.3,1.3,0.53,0.268,0.268,0.689,9.62e-07,9.62e-07,4.38e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
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1790000,1,-0.0115,-0.0148,-0.0167,0.0422,-0.0137,-0.236,0.0104,-0.00306,-0.199,-1.15e-06,-4.89e-06,2.07e-09,2.38e-06,-5.49e-07,-7.51e-08,0.192,0.00189,0.404,0,0,0,0,0,2.96e-06,0.00744,0.00744,0.00104,1.45,1.45,0.554,0.262,0.262,0.936,9.06e-07,9.06e-07,3.51e-07,3.98e-06,3.98e-06,3.99e-06,0,0,0,0,0,0,0,0
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@ -47,35 +47,35 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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17890000,0.706,0.000188,-0.0124,0.708,0.00853,-0.000172,-0.00205,-0.00151,-0.00206,-365,-1.34e-05,-6.06e-05,5.25e-06,-3.01e-05,6.06e-05,-0.00129,0.209,0.00206,0.432,0,0,0,0,0,0.000141,0.000135,0.000134,0.000135,0.0366,0.0366,0.016,0.0511,0.0511,0.0475,7.12e-10,7.13e-10,9.41e-10,3.18e-06,3.18e-06,1.04e-07,0,0,0,0,0,0,0,0
17990000,0.706,0.000129,-0.0125,0.708,0.0103,-0.00193,-0.000714,-0.000757,-0.00179,-365,-1.34e-05,-6.06e-05,5.16e-06,-2.99e-05,5.91e-05,-0.00129,0.209,0.00206,0.432,0,0,0,0,0,0.00014,0.000129,0.000129,0.000135,0.0323,0.0323,0.0154,0.0449,0.0449,0.0466,6.45e-10,6.46e-10,9.18e-10,3.16e-06,3.16e-06,9.82e-08,0,0,0,0,0,0,0,0
17790000,0.706,0.000178,-0.0124,0.708,0.00705,0.000572,-0.00219,-0.00229,-0.00212,-365,-1.34e-05,-6.06e-05,5e-06,-3.01e-05,6.07e-05,-0.00129,0.209,0.00206,0.432,0,0,0,0,0,0.000141,0.000133,0.000132,0.000135,0.033,0.033,0.0162,0.0449,0.0449,0.0475,7.12e-10,7.13e-10,9.65e-10,3.18e-06,3.18e-06,1.08e-07,0,0,0,0,0,0,0,0
17890000,0.706,0.000188,-0.0124,0.708,0.00853,-0.000171,-0.00205,-0.00151,-0.00206,-365,-1.34e-05,-6.06e-05,5.25e-06,-3.01e-05,6.06e-05,-0.00129,0.209,0.00206,0.432,0,0,0,0,0,0.000141,0.000135,0.000134,0.000135,0.0366,0.0366,0.016,0.0511,0.0511,0.0475,7.12e-10,7.13e-10,9.41e-10,3.18e-06,3.18e-06,1.04e-07,0,0,0,0,0,0,0,0
17990000,0.706,0.000129,-0.0125,0.708,0.0103,-0.00193,-0.000713,-0.000757,-0.00179,-365,-1.34e-05,-6.06e-05,5.16e-06,-2.99e-05,5.91e-05,-0.00129,0.209,0.00206,0.432,0,0,0,0,0,0.00014,0.000129,0.000129,0.000135,0.0323,0.0323,0.0154,0.0449,0.0449,0.0466,6.45e-10,6.46e-10,9.18e-10,3.16e-06,3.16e-06,9.82e-08,0,0,0,0,0,0,0,0
18090000,0.706,0.000135,-0.0125,0.708,0.0109,-0.00208,0.00168,0.000308,-0.00202,-365,-1.34e-05,-6.06e-05,4.7e-06,-2.99e-05,5.92e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.00014,0.000131,0.000131,0.000134,0.0358,0.0358,0.0153,0.0509,0.0509,0.0471,6.45e-10,6.46e-10,8.99e-10,3.16e-06,3.16e-06,9.52e-08,0,0,0,0,0,0,0,0
18190000,0.706,9.86e-05,-0.0124,0.708,0.0116,-0.00103,0.00308,0.00123,-0.00157,-365,-1.34e-05,-6.05e-05,4.94e-06,-2.93e-05,5.93e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.00014,0.000126,0.000126,0.000134,0.0316,0.0316,0.0147,0.0448,0.0448,0.0463,5.85e-10,5.85e-10,8.78e-10,3.15e-06,3.15e-06,9.02e-08,0,0,0,0,0,0,0,0
18290000,0.706,4.04e-05,-0.0124,0.708,0.0116,-0.00158,0.00426,0.00239,-0.0017,-365,-1.34e-05,-6.05e-05,4.74e-06,-2.93e-05,5.94e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000139,0.000128,0.000128,0.000134,0.035,0.035,0.0145,0.0508,0.0508,0.0462,5.85e-10,5.85e-10,8.57e-10,3.15e-06,3.15e-06,8.71e-08,0,0,0,0,0,0,0,0
18390000,0.706,5.25e-05,-0.0124,0.708,0.013,4.8e-05,0.00551,0.00299,-0.00128,-365,-1.34e-05,-6.05e-05,5.08e-06,-2.88e-05,5.99e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000139,0.000123,0.000123,0.000133,0.0309,0.0309,0.014,0.0447,0.0447,0.0454,5.3e-10,5.3e-10,8.36e-10,3.14e-06,3.14e-06,8.27e-08,0,0,0,0,0,0,0,0
18390000,0.706,5.25e-05,-0.0124,0.708,0.013,4.79e-05,0.00551,0.00299,-0.00128,-365,-1.34e-05,-6.05e-05,5.08e-06,-2.88e-05,5.99e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000139,0.000123,0.000123,0.000133,0.0309,0.0309,0.014,0.0447,0.0447,0.0454,5.3e-10,5.3e-10,8.36e-10,3.14e-06,3.14e-06,8.27e-08,0,0,0,0,0,0,0,0
18490000,0.706,6.8e-05,-0.0124,0.708,0.0138,0.000479,0.00517,0.00438,-0.00125,-365,-1.34e-05,-6.05e-05,5.15e-06,-2.88e-05,5.99e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000139,0.000125,0.000125,0.000133,0.0342,0.0342,0.0139,0.0506,0.0506,0.0458,5.3e-10,5.3e-10,8.19e-10,3.14e-06,3.14e-06,8.03e-08,0,0,0,0,0,0,0,0
18590000,0.706,6.86e-05,-0.0123,0.708,0.0129,0.000693,0.00344,0.00333,-0.00108,-365,-1.36e-05,-6.05e-05,5.56e-06,-2.88e-05,6.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000139,0.000121,0.000121,0.000133,0.0302,0.0302,0.0134,0.0446,0.0446,0.045,4.8e-10,4.81e-10,8e-10,3.13e-06,3.13e-06,7.64e-08,0,0,0,0,0,0,0,0
18690000,0.706,3.8e-05,-0.0123,0.708,0.0132,1.31e-05,0.00161,0.00463,-0.00102,-365,-1.36e-05,-6.05e-05,5.42e-06,-2.87e-05,6.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000138,0.000122,0.000122,0.000132,0.0334,0.0334,0.0133,0.0505,0.0505,0.0449,4.81e-10,4.81e-10,7.82e-10,3.13e-06,3.13e-06,7.39e-08,0,0,0,0,0,0,0,0
18690000,0.706,3.8e-05,-0.0123,0.708,0.0132,1.3e-05,0.00161,0.00463,-0.00102,-365,-1.36e-05,-6.05e-05,5.42e-06,-2.87e-05,6.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000138,0.000122,0.000122,0.000132,0.0334,0.0334,0.0133,0.0505,0.0505,0.0449,4.81e-10,4.81e-10,7.82e-10,3.13e-06,3.13e-06,7.39e-08,0,0,0,0,0,0,0,0
18790000,0.706,6.44e-05,-0.0123,0.708,0.0117,0.000295,0.00138,0.00354,-0.000809,-365,-1.38e-05,-6.05e-05,5.27e-06,-2.86e-05,6.54e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000138,0.000118,0.000118,0.000132,0.0295,0.0295,0.0129,0.0445,0.0445,0.0447,4.36e-10,4.36e-10,7.66e-10,3.12e-06,3.12e-06,7.08e-08,0,0,0,0,0,0,0,0
18890000,0.706,8.79e-05,-0.0123,0.708,0.0123,0.000805,0.00204,0.00474,-0.00072,-365,-1.37e-05,-6.05e-05,5.67e-06,-2.86e-05,6.54e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000138,0.000119,0.000119,0.000132,0.0326,0.0326,0.0128,0.0503,0.0503,0.0446,4.36e-10,4.36e-10,7.48e-10,3.12e-06,3.12e-06,6.85e-08,0,0,0,0,0,0,0,0
18990000,0.707,7.36e-05,-0.0123,0.708,0.0136,0.00169,0.000837,0.00612,-0.000603,-365,-1.37e-05,-6.05e-05,5.82e-06,-2.87e-05,6.45e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000116,0.000116,0.000132,0.0288,0.0288,0.0123,0.0444,0.0444,0.0438,3.96e-10,3.97e-10,7.31e-10,3.11e-06,3.11e-06,6.54e-08,0,0,0,0,0,0,0,0
19090000,0.707,5.84e-05,-0.0122,0.708,0.0142,0.0023,0.00391,0.0075,-0.000376,-365,-1.37e-05,-6.05e-05,5.79e-06,-2.87e-05,6.45e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000117,0.000117,0.000131,0.0317,0.0317,0.0123,0.0501,0.0501,0.0442,3.96e-10,3.97e-10,7.17e-10,3.11e-06,3.11e-06,6.37e-08,0,0,0,0,0,0,0,0
19190000,0.707,5.97e-05,-0.0121,0.708,0.0142,0.00228,0.00399,0.00837,-0.000352,-365,-1.37e-05,-6.05e-05,5.94e-06,-2.9e-05,6.42e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000113,0.000113,0.000131,0.0281,0.0281,0.0119,0.0442,0.0442,0.0435,3.61e-10,3.61e-10,7.01e-10,3.1e-06,3.1e-06,6.09e-08,0,0,0,0,0,0,0,0
19290000,0.707,8.28e-05,-0.0121,0.708,0.0146,0.00154,0.00673,0.00977,-0.000143,-365,-1.37e-05,-6.05e-05,5.73e-06,-2.9e-05,6.42e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000115,0.000115,0.000131,0.0309,0.0309,0.0117,0.0499,0.0499,0.0433,3.61e-10,3.61e-10,6.85e-10,3.1e-06,3.1e-06,5.91e-08,0,0,0,0,0,0,0,0
19390000,0.707,9.15e-05,-0.012,0.708,0.0121,0.000595,0.0106,0.00783,-0.000181,-365,-1.39e-05,-6.06e-05,5.88e-06,-2.92e-05,6.71e-05,-0.00131,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000111,0.000111,0.000131,0.0275,0.0275,0.0115,0.0441,0.0441,0.0431,3.29e-10,3.29e-10,6.72e-10,3.09e-06,3.09e-06,5.69e-08,0,0,0,0,0,0,0,0
19390000,0.707,9.15e-05,-0.012,0.708,0.0121,0.000594,0.0106,0.00783,-0.000181,-365,-1.39e-05,-6.06e-05,5.88e-06,-2.92e-05,6.71e-05,-0.00131,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000111,0.000111,0.000131,0.0275,0.0275,0.0115,0.0441,0.0441,0.0431,3.29e-10,3.29e-10,6.72e-10,3.09e-06,3.09e-06,5.69e-08,0,0,0,0,0,0,0,0
19490000,0.707,0.000115,-0.012,0.707,0.0112,-0.000105,0.00696,0.00898,-0.00016,-365,-1.39e-05,-6.06e-05,6.18e-06,-2.92e-05,6.71e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000112,0.000112,0.00013,0.0301,0.0301,0.0113,0.0498,0.0498,0.043,3.29e-10,3.29e-10,6.57e-10,3.09e-06,3.09e-06,5.53e-08,0,0,0,0,0,0,0,0
19590000,0.707,0.000161,-0.0119,0.707,0.00927,-0.00115,0.00631,0.00725,-0.000203,-365,-1.4e-05,-6.06e-05,6.55e-06,-2.92e-05,6.95e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000109,0.000109,0.00013,0.0268,0.0268,0.011,0.044,0.044,0.0423,3e-10,3e-10,6.43e-10,3.08e-06,3.08e-06,5.31e-08,0,0,0,0,0,0,0,0
19690000,0.707,0.000161,-0.012,0.707,0.00962,-0.00333,0.00785,0.0082,-0.000432,-365,-1.4e-05,-6.06e-05,6.32e-06,-2.92e-05,6.95e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.00011,0.00011,0.00013,0.0294,0.0294,0.0109,0.0495,0.0495,0.0422,3e-10,3e-10,6.29e-10,3.08e-06,3.08e-06,5.16e-08,0,0,0,0,0,0,0,0
19790000,0.707,0.000225,-0.0119,0.707,0.00733,-0.00418,0.00835,0.00664,-0.000349,-365,-1.41e-05,-6.05e-05,6.33e-06,-2.87e-05,7.14e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000108,0.000107,0.000129,0.0261,0.0261,0.0106,0.0438,0.0438,0.042,2.74e-10,2.74e-10,6.17e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
19890000,0.707,0.000173,-0.0119,0.707,0.00608,-0.00445,0.00953,0.00731,-0.000795,-365,-1.41e-05,-6.05e-05,6.75e-06,-2.87e-05,7.14e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000108,0.000108,0.000129,0.0286,0.0286,0.0105,0.0493,0.0493,0.0419,2.74e-10,2.74e-10,6.04e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
19990000,0.707,0.000156,-0.0119,0.707,0.00366,-0.00516,0.0123,0.00595,-0.000669,-365,-1.42e-05,-6.05e-05,7.3e-06,-2.81e-05,7.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000106,0.000106,0.000129,0.0255,0.0255,0.0102,0.0437,0.0437,0.0412,2.51e-10,2.51e-10,5.91e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
20090000,0.707,0.00015,-0.0119,0.707,0.00342,-0.0071,0.0126,0.00631,-0.00127,-365,-1.42e-05,-6.05e-05,7.76e-06,-2.81e-05,7.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000107,0.000107,0.000129,0.0279,0.0279,0.0102,0.0491,0.0491,0.0415,2.51e-10,2.51e-10,5.8e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
20090000,0.707,0.00015,-0.0119,0.707,0.00342,-0.00711,0.0126,0.00631,-0.00127,-365,-1.42e-05,-6.05e-05,7.76e-06,-2.81e-05,7.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000107,0.000107,0.000129,0.0279,0.0279,0.0102,0.0491,0.0491,0.0415,2.51e-10,2.51e-10,5.8e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
20190000,0.707,0.000251,-0.0118,0.707,0.00112,-0.0078,0.0149,0.00405,-0.001,-365,-1.43e-05,-6.05e-05,7.96e-06,-2.7e-05,7.48e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000104,0.000104,0.000128,0.0248,0.0248,0.00991,0.0435,0.0435,0.0409,2.3e-10,2.31e-10,5.68e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
20290000,0.707,0.000211,-0.0118,0.707,-3e-05,-0.00937,0.0129,0.0041,-0.00185,-365,-1.43e-05,-6.05e-05,8.08e-06,-2.71e-05,7.48e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000133,0.000105,0.000105,0.000128,0.0271,0.0271,0.00982,0.0489,0.0489,0.0408,2.31e-10,2.31e-10,5.56e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
20290000,0.707,0.000211,-0.0118,0.707,-3.04e-05,-0.00938,0.0129,0.0041,-0.00185,-365,-1.43e-05,-6.05e-05,8.08e-06,-2.71e-05,7.48e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000133,0.000105,0.000105,0.000128,0.0271,0.0271,0.00982,0.0489,0.0489,0.0408,2.31e-10,2.31e-10,5.56e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
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32690000,0.709,-0.000549,-0.0032,0.705,-1.39,-0.794,0.707,-14.1,-6.76,-367,-1.45e-05,-5.66e-05,2.54e-06,-0.000401,8.5e-05,-0.000935,0.209,0.00206,0.432,0,0,0,0,0,0.000102,8.35e-05,7.7e-05,9.69e-05,0.026,0.0259,0.00848,0.31,0.308,0.0364,2.93e-11,2.91e-11,9.88e-11,2.82e-06,2.61e-06,5e-08,0,0,0,0,0,0,0,0
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
14 1190000 1 -0.0112 -0.0137 -0.0166 0.0163 -0.0049 -0.155 0.00161 -0.000401 -0.0818 -1.25e-07 -6.6e-07 -2.4e-09 4.68e-07 -8.34e-08 -1.35e-08 0.192 0.00189 0.404 0 0 0 0 0 1.85e-06 0.00506 0.00506 0.00108 0.85 0.85 0.491 0.151 0.151 0.328 9.88e-07 9.88e-07 6.56e-07 3.99e-06 3.99e-06 3.99e-06 0 0 0 0 0 0 0 0
15 1290000 1 -0.0113 -0.0139 -0.0166 0.0212 -0.00611 -0.169 0.00349 -0.000977 -0.098 -1.25e-07 -6.6e-07 -2.4e-09 4.68e-07 -8.34e-08 -1.35e-08 0.192 0.00189 0.404 0 0 0 0 0 2.06e-06 0.0056 0.0056 0.00108 1.03 1.03 0.5 0.214 0.214 0.402 9.88e-07 9.88e-07 5.97e-07 3.99e-06 3.99e-06 3.99e-06 0 0 0 0 0 0 0 0
16 1390000 1 -0.0114 -0.0142 -0.0166 0.0275 -0.00825 -0.181 0.00597 -0.00168 -0.115 -1.25e-07 -6.6e-07 -2.4e-09 4.68e-07 -8.34e-08 -1.35e-08 0.192 0.00189 0.404 0 0 0 0 0 2.31e-06 0.00618 0.00619 0.00108 1.26 1.26 0.509 0.301 0.301 0.487 9.88e-07 9.88e-07 5.41e-07 3.99e-06 3.99e-06 3.99e-06 0 0 0 0 0 0 0 0
17 1490000 1 -0.0114 -0.0143 -0.0166 0.0277 -0.00795 -0.196 0.00506 -0.00142 -0.134 -4.58e-07 -2.01e-06 -2.38e-09 -2.37e-09 1.16e-06 -2.53e-07 -3.54e-08 0.192 0.00189 0.404 0 0 0 0 0 2.42e-06 0.00637 0.00637 0.00108 1.01 1.01 0.519 0.189 0.189 0.582 9.62e-07 9.62e-07 4.87e-07 3.99e-06 3.99e-06 3.99e-06 0 0 0 0 0 0 0 0
18 1590000 1 -0.0114 -0.0146 -0.0166 0.0346 -0.00911 -0.209 0.00815 -0.00227 -0.155 -4.58e-07 -2.01e-06 -2.38e-09 -2.37e-09 1.16e-06 -2.53e-07 -3.54e-08 0.192 0.00189 0.404 0 0 0 0 0 2.7e-06 0.00702 0.00702 0.00107 1.3 1.3 0.53 0.268 0.268 0.689 9.62e-07 9.62e-07 4.38e-07 3.99e-06 3.99e-06 3.99e-06 0 0 0 0 0 0 0 0
19 1690000 1 -0.0115 -0.0145 -0.0166 0.0339 -0.0104 -0.221 0.00659 -0.00188 -0.176 -1.15e-06 -4.89e-06 2.07e-09 2.38e-06 -5.49e-07 -7.51e-08 0.192 0.00189 0.404 0 0 0 0 0 2.66e-06 0.00677 0.00677 0.00105 1.11 1.11 0.542 0.179 0.179 0.807 9.06e-07 9.06e-07 3.92e-07 3.98e-06 3.98e-06 3.99e-06 0 0 0 0 0 0 0 0
20 1790000 1 -0.0115 -0.0148 -0.0167 0.0422 -0.0137 -0.236 0.0104 -0.00306 -0.199 -1.15e-06 -4.89e-06 2.07e-09 2.38e-06 -5.49e-07 -7.51e-08 0.192 0.00189 0.404 0 0 0 0 0 2.96e-06 0.00744 0.00744 0.00104 1.45 1.45 0.554 0.262 0.262 0.936 9.06e-07 9.06e-07 3.51e-07 3.98e-06 3.98e-06 3.99e-06 0 0 0 0 0 0 0 0
21 1890000 1 -0.0113 -0.0144 -0.0167 0.0382 -0.0124 -0.25 0.00784 -0.00241 -0.223 -2.41e-06 -9.67e-06 1.8e-08 4.1e-06 -9.99e-07 -1.33e-07 0.192 0.00189 0.404 0 0 0 0 0 2.68e-06 0.00658 0.00658 0.00102 1.19 1.19 0.567 0.178 0.178 1.08 8.16e-07 8.16e-07 3.14e-07 3.97e-06 3.97e-06 3.99e-06 0 0 0 0 0 0 0 0
47 4490000 1 -0.0101 -0.0116 -0.0168 0.0131 -0.0043 -0.602 0.0051 -0.00216 -1.33 -1.46e-05 -5.14e-05 2.32e-07 4.34e-06 -8.5e-07 -1.19e-07 0.192 0.00189 0.404 0 0 0 0 0 5.92e-07 0.00152 0.00152 0.000544 0.549 0.549 1.19 0.187 0.187 10.8 1.02e-07 1.02e-07 3.24e-08 3.92e-06 3.92e-06 3.99e-06 0 0 0 0 0 0 0 0
48 4590000 1 -0.0101 -0.0114 -0.0168 0.0114 -0.00343 -0.617 0.00359 -0.00141 -1.39 -1.5e-05 -5.26e-05 2.4e-07 3.59e-06 -5.72e-07 -8.71e-08 0.192 0.00189 0.404 0 0 0 0 0 5.02e-07 0.00124 0.00124 0.000533 0.418 0.418 1.23 0.132 0.132 11.5 8.3e-08 8.31e-08 3.04e-08 3.91e-06 3.91e-06 3.99e-06 0 0 0 0 0 0 0 0
49 4690000 1 -0.0101 -0.0114 -0.0168 0.0125 -0.00448 -0.631 0.00481 -0.00179 -1.45 -1.5e-05 -5.26e-05 2.4e-07 3.59e-06 -5.72e-07 -8.71e-08 0.192 0.00189 0.404 0 0 0 0 0 5.23e-07 0.00134 0.00134 0.000522 0.504 0.504 1.26 0.177 0.177 12.2 8.3e-08 8.31e-08 2.85e-08 3.91e-06 3.91e-06 3.99e-06 0 0 0 0 0 0 0 0
50 4790000 1 -0.0101 -0.0112 -0.0168 0.0102 -0.00391 -0.645 0.00335 -0.00124 -1.52 -1.54e-05 -5.37e-05 2.47e-07 2.87e-06 -3.33e-07 -3.32e-07 -5.74e-08 0.192 0.00189 0.404 0 0 0 0 0 4.47e-07 0.0011 0.0011 0.000512 0.385 0.385 1.3 0.127 0.127 13 6.74e-08 6.74e-08 2.68e-08 3.9e-06 3.9e-06 3.99e-06 0 0 0 0 0 0 0 0
51 4890000 1 -0.0101 -0.0113 -0.0168 0.0113 -0.00504 -0.66 0.00445 -0.00168 -1.58 -1.54e-05 -5.37e-05 2.47e-07 2.87e-06 -3.33e-07 -3.32e-07 -5.74e-08 0.192 0.00189 0.404 0 0 0 0 0 4.65e-07 0.00118 0.00118 0.000502 0.461 0.461 1.34 0.168 0.168 13.7 6.74e-08 6.74e-08 2.52e-08 3.9e-06 3.9e-06 3.99e-06 0 0 0 0 0 0 0 0
52 4990000 1 -0.00999 -0.0112 -0.0168 0.01 -0.00373 -0.675 0.00313 -0.00121 -1.65 -1.57e-05 -5.46e-05 2.53e-07 2.19e-06 -9.75e-08 -2.96e-08 0.192 0.00189 0.404 0 0 0 0 0 4e-07 0.000965 0.000966 0.000492 0.353 0.353 1.37 0.121 0.121 14.6 5.44e-08 5.44e-08 2.38e-08 3.9e-06 3.9e-06 3.99e-06 0 0 0 0 0 0 0 0
53 5090000 1 -0.01 -0.0112 -0.0168 0.0105 -0.00389 -0.69 0.00416 -0.00158 -1.72 -1.57e-05 -5.46e-05 2.53e-07 2.19e-06 -9.75e-08 -2.96e-08 0.192 0.00189 0.404 0 0 0 0 0 4.14e-07 0.00103 0.00103 0.000483 0.421 0.421 1.41 0.16 0.16 15.4 5.44e-08 5.44e-08 2.24e-08 3.9e-06 3.9e-06 3.99e-06 0 0 0 0 0 0 0 0
54 5190000 1 -0.00997 -0.0111 -0.0168 0.00852 -0.00353 -0.703 0.00291 -0.00113 -1.79 -1.59e-05 -5.54e-05 2.58e-07 1.57e-06 1.19e-07 -4.12e-09 -4.11e-09 0.192 0.00189 0.404 0 0 0 0 0 3.58e-07 0.000848 0.000848 0.000474 0.323 0.323 1.45 0.116 0.116 16.3 4.38e-08 4.38e-08 2.12e-08 3.89e-06 3.89e-06 3.99e-06 0 0 0 0 0 0 0 0
55 5290000 1 -0.00992 -0.0111 -0.0168 0.00778 -0.00312 -0.718 0.00373 -0.00148 -1.86 -1.59e-05 -5.54e-05 2.58e-07 1.57e-06 1.19e-07 -4.12e-09 -4.11e-09 0.192 0.00189 0.404 0 0 0 0 0 3.68e-07 0.000905 0.000905 0.000466 0.384 0.384 1.49 0.152 0.152 17.3 4.38e-08 4.38e-08 2e-08 3.89e-06 3.89e-06 3.99e-06 0 0 0 0 0 0 0 0
56 5390000 1 -0.00981 -0.0111 -0.0167 0.00451 -0.00239 -0.732 0.00247 -0.001 -1.93 -1.62e-05 -5.6e-05 2.63e-07 1.05e-06 3.08e-07 1.7e-08 0.192 0.00189 0.404 0 0 0 0 0 3.23e-07 0.000744 0.000744 0.000457 0.295 0.295 1.53 0.111 0.111 18.3 3.52e-08 3.52e-08 1.9e-08 3.88e-06 3.88e-06 3.99e-06 0 0 0 0 0 0 0 0
57 5490000 1 -0.00976 -0.0111 -0.0167 0.00459 -0.00238 -0.745 0.00293 -0.00126 -2 -1.62e-05 -5.6e-05 2.63e-07 1.05e-06 3.08e-07 1.7e-08 0.192 0.00189 0.404 0 0 0 0 0 3.3e-07 0.000792 0.000792 0.000449 0.349 0.349 1.58 0.145 0.145 19.3 3.52e-08 3.52e-08 1.8e-08 3.88e-06 3.88e-06 3.99e-06 0 0 0 0 0 0 0 0
58 5590000 1 -0.00972 -0.0111 -0.0168 0.00519 -0.00237 -0.76 0.00341 -0.00148 -2.08 -1.62e-05 -5.6e-05 2.63e-07 1.05e-06 3.08e-07 1.7e-08 0.192 0.00189 0.404 0 0 0 0 0 3.38e-07 0.000841 0.000842 0.000442 0.41 0.41 1.62 0.188 0.188 20.4 3.52e-08 3.52e-08 1.7e-08 3.88e-06 3.88e-06 3.99e-06 0 0 0 0 0 0 0 0
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30
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

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@ -277,7 +277,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -293,7 +293,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
29090000,0.983,-0.00531,-0.0114,0.186,-0.0821,0.0627,0.78,-0.0532,0.0279,-2.7,-1.51e-05,-5.8e-05,1.69e-07,-3.82e-05,5.59e-05,-0.00116,0.204,0.00201,0.435,0,0,0,0,0,1.94e-06,8.37e-05,8.37e-05,5.23e-05,0.0137,0.0137,0.00802,0.0408,0.0408,0.0353,3.41e-11,3.41e-11,1.48e-10,2.82e-06,2.82e-06,5e-08,0,0,0,0,0,0,0,0
29190000,0.983,-0.00527,-0.0116,0.186,-0.0784,0.0612,0.775,-0.0509,0.0271,-2.63,-1.5e-05,-5.79e-05,2.32e-07,-3.81e-05,5.46e-05,-0.00115,0.204,0.00201,0.435,0,0,0,0,0,1.94e-06,8.37e-05,8.36e-05,5.21e-05,0.0127,0.0127,0.00799,0.0372,0.0372,0.0354,3.35e-11,3.35e-11,1.46e-10,2.82e-06,2.82e-06,5e-08,0,0,0,0,0,0,0,0
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
18 1590000 0.979 -0.00863 -0.0173 0.205 0.0533 -0.00359 -0.228 0.0128 -0.00094 -0.256 -1.42e-06 -2.63e-06 1.57e-08 1.6e-06 -9.28e-07 4.67e-06 0.203 0.0109 0.434 0 0 0 0 0 4.83e-05 0.007 0.007 0.00102 1.3 1.3 0.182 0.268 0.268 0.118 9.62e-07 9.62e-07 4.38e-07 3.99e-06 3.99e-06 3.87e-06 0 0 0 0 0 0 0 0
19 1690000 0.979 -0.00854 -0.017 0.205 0.0494 -0.00235 -0.244 0.0101 -0.000622 -0.28 -3.52e-06 -6.61e-06 4.8e-08 3.3e-06 -1.82e-06 4.59e-06 0.203 0.0109 0.434 0 0 0 0 0 4.77e-05 0.00675 0.00675 0.00101 1.1 1.1 0.163 0.179 0.179 0.114 9.06e-07 9.06e-07 3.92e-07 3.98e-06 3.98e-06 3.83e-06 0 0 0 0 0 0 0 0
20 1790000 0.979 -0.00865 -0.0173 0.205 0.0604 -0.00313 -0.257 0.0157 -0.000918 -0.305 -3.52e-06 -6.61e-06 4.8e-08 3.3e-06 -1.82e-06 4.59e-06 0.203 0.0109 0.434 0 0 0 0 0 4.75e-05 0.00743 0.00743 0.000993 1.44 1.44 0.147 0.262 0.262 0.11 9.06e-07 9.06e-07 3.51e-07 3.98e-06 3.98e-06 3.8e-06 0 0 0 0 0 0 0 0
21 1890000 0.979 -0.00832 -0.0166 0.205 0.0501 7.35e-05 7.36e-05 -0.269 0.0114 -0.000469 -0.331 -6.76e-06 -1.3e-05 1.05e-07 5.58e-06 -2.98e-06 4.46e-06 0.203 0.0109 0.434 0 0 0 0 0 4.63e-05 0.00657 0.00657 0.000975 1.18 1.18 0.137 0.178 0.178 0.109 8.15e-07 8.16e-07 3.15e-07 3.97e-06 3.97e-06 3.76e-06 0 0 0 0 0 0 0 0
22 1990000 0.979 -0.0084 -0.0169 0.205 0.0585 0.000588 -0.282 0.0168 -0.000494 -0.000493 -0.359 -6.76e-06 -1.3e-05 1.05e-07 5.58e-06 -2.98e-06 4.46e-06 0.203 0.0109 0.434 0 0 0 0 0 4.58e-05 0.00722 0.00722 0.000955 1.54 1.54 0.126 0.266 0.266 0.105 8.15e-07 8.16e-07 2.82e-07 3.97e-06 3.97e-06 3.72e-06 0 0 0 0 0 0 0 0
23 2090000 0.979 -0.00819 -0.0161 0.205 0.0446 0.0016 0.00161 -0.296 0.0111 -0.000118 -0.388 -1.04e-05 -2.08e-05 1.73e-07 7.87e-06 -4.05e-06 4.31e-06 0.203 0.0109 0.434 0 0 0 0 0 4.42e-05 0.00588 0.00588 0.000934 1.18 1.18 0.118 0.177 0.177 0.102 7.03e-07 7.03e-07 2.52e-07 3.96e-06 3.96e-06 3.67e-06 0 0 0 0 0 0 0 0
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277 27490000 0.982 -0.00981 -0.0157 0.186 -0.0796 0.0527 0.759 0.0473 -0.0293 -3.86 -1.6e-05 -5.84e-05 1.05e-07 -2.99e-05 4.21e-05 -0.00121 0.204 0.00201 0.435 0 0 0 0 0 2.08e-06 8.2e-05 8.19e-05 5.59e-05 0.0141 0.0141 0.00803 0.0416 0.0416 0.0352 3.94e-11 3.94e-11 1.8e-10 2.83e-06 2.83e-06 5e-08 0 0 0 0 0 0 0 0
278 27590000 0.982 -0.00968 -0.0146 0.186 -0.0735 0.0551 0.853 0.039 -0.0253 -3.79 -1.6e-05 -5.84e-05 7.04e-08 -3.09e-05 4.24e-05 -0.0012 0.204 0.00201 0.435 0 0 0 0 0 2.07e-06 8.2e-05 8.19e-05 5.57e-05 0.0131 0.0131 0.008 0.0378 0.0378 0.0353 3.85e-11 3.85e-11 1.78e-10 2.83e-06 2.83e-06 5e-08 0 0 0 0 0 0 0 0
279 27690000 0.983 -0.00846 -0.0116 0.186 -0.0705 0.0518 0.755 0.0318 -0.0199 -3.72 -1.6e-05 -5.84e-05 5.64e-08 -3.05e-05 4.15e-05 -0.00119 0.204 0.00201 0.435 0 0 0 0 0 2.05e-06 8.22e-05 8.21e-05 5.54e-05 0.014 0.014 0.00804 0.0414 0.0414 0.0354 3.86e-11 3.86e-11 1.75e-10 2.83e-06 2.83e-06 5e-08 0 0 0 0 0 0 0 0
280 27790000 0.983 -0.00712 -0.0102 0.186 -0.0698 0.0495 0.749 0.0257 -0.0174 -3.65 -1.59e-05 -5.84e-05 5.28e-08 5.27e-08 -3.29e-05 4.79e-05 -0.00119 0.204 0.00201 0.435 0 0 0 0 0 2.04e-06 8.23e-05 8.22e-05 5.52e-05 0.013 0.013 0.00797 0.0377 0.0377 0.0351 3.78e-11 3.78e-11 1.73e-10 2.83e-06 2.83e-06 5e-08 0 0 0 0 0 0 0 0
281 27890000 0.983 -0.00676 -0.0102 0.186 -0.0767 0.0566 0.788 0.0183 -0.0122 -3.57 -1.59e-05 -5.84e-05 1.48e-08 -3.27e-05 4.73e-05 -0.00119 0.204 0.00201 0.435 0 0 0 0 0 2.04e-06 8.24e-05 8.24e-05 5.5e-05 0.0139 0.0139 0.00806 0.0413 0.0413 0.0355 3.79e-11 3.79e-11 1.71e-10 2.83e-06 2.83e-06 5e-08 0 0 0 0 0 0 0 0
282 27990000 0.983 -0.00721 -0.0106 0.186 -0.077 0.058 0.775 0.013 -0.0105 -3.5 -1.58e-05 -5.83e-05 -2.78e-08 -3.49e-05 5.14e-05 -0.00119 0.204 0.00201 0.435 0 0 0 0 0 2.03e-06 8.25e-05 8.24e-05 5.47e-05 0.013 0.013 0.00799 0.0376 0.0376 0.0352 3.71e-11 3.71e-11 1.69e-10 2.83e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0
283 28090000 0.983 -0.00747 -0.0106 0.186 -0.0807 0.0587 0.782 0.00512 -0.00461 -3.43 -1.58e-05 -5.83e-05 6.57e-08 -3.49e-05 5.13e-05 -0.00119 0.204 0.00201 0.435 0 0 0 0 0 2.02e-06 8.27e-05 8.26e-05 5.45e-05 0.0139 0.0139 0.00803 0.0412 0.0412 0.0353 3.72e-11 3.72e-11 1.67e-10 2.83e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0
293 29090000 0.983 -0.00531 -0.0114 0.186 -0.0821 0.0627 0.78 -0.0532 0.0279 -2.7 -1.51e-05 -5.8e-05 1.69e-07 -3.82e-05 5.59e-05 -0.00116 0.204 0.00201 0.435 0 0 0 0 0 1.94e-06 8.37e-05 8.37e-05 5.23e-05 0.0137 0.0137 0.00802 0.0408 0.0408 0.0353 3.41e-11 3.41e-11 1.48e-10 2.82e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0
294 29190000 0.983 -0.00527 -0.0116 0.186 -0.0784 0.0612 0.775 -0.0509 0.0271 -2.63 -1.5e-05 -5.79e-05 2.32e-07 -3.81e-05 5.46e-05 -0.00115 0.204 0.00201 0.435 0 0 0 0 0 1.94e-06 8.37e-05 8.36e-05 5.21e-05 0.0127 0.0127 0.00799 0.0372 0.0372 0.0354 3.35e-11 3.35e-11 1.46e-10 2.82e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0
295 29290000 0.983 -0.00553 -0.0116 0.186 -0.0805 0.0673 0.778 -0.0588 0.0336 -2.55 -1.5e-05 -5.79e-05 2.49e-07 -3.79e-05 5.42e-05 -0.00115 0.204 0.00201 0.435 0 0 0 0 0 1.93e-06 8.39e-05 8.38e-05 5.19e-05 0.0136 0.0136 0.00803 0.0407 0.0407 0.0354 3.36e-11 3.36e-11 1.44e-10 2.82e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0
296 29390000 0.983 -0.00598 -0.0111 0.186 -0.0759 0.0656 0.78 -0.0571 0.0344 -2.48 -1.49e-05 -5.79e-05 2.89e-07 2.88e-07 -3.79e-05 5.31e-05 -0.00115 0.204 0.00201 0.435 0 0 0 0 0 1.92e-06 8.38e-05 8.37e-05 5.16e-05 0.0127 0.0127 0.00796 0.0372 0.0372 0.0352 3.3e-11 3.3e-11 1.43e-10 2.82e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0
297 29490000 0.983 -0.00598 -0.0109 0.186 -0.0788 0.0664 0.78 -0.0648 0.0411 -2.4 -1.49e-05 -5.79e-05 3.97e-07 -3.75e-05 5.25e-05 -0.00115 0.204 0.00201 0.435 0 0 0 0 0 1.92e-06 8.4e-05 8.39e-05 5.15e-05 0.0136 0.0136 0.00805 0.0406 0.0406 0.0355 3.31e-11 3.31e-11 1.41e-10 2.82e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0
298 29590000 0.983 -0.00589 -0.0109 0.186 -0.0743 0.0642 0.782 -0.0622 0.0401 -2.33 -1.47e-05 -5.78e-05 5.01e-07 -3.7e-05 5.08e-05 -0.00115 0.204 0.00201 0.435 0 0 0 0 0 1.91e-06 8.39e-05 8.38e-05 5.13e-05 0.0127 0.0127 0.00798 0.0371 0.0371 0.0353 3.25e-11 3.25e-11 1.4e-10 2.82e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0
299 29690000 0.983 -0.00593 -0.0107 0.185 -0.0786 0.063 0.777 -0.0698 0.0465 -2.25 -1.47e-05 -5.78e-05 5.93e-07 -3.64e-05 4.96e-05 -0.00114 0.204 0.00201 0.435 0 0 0 0 0 1.9e-06 8.4e-05 8.4e-05 5.1e-05 0.0136 0.0136 0.00802 0.0406 0.0406 0.0353 3.26e-11 3.26e-11 1.38e-10 2.82e-06 2.82e-06 5e-08 0 0 0 0 0 0 0 0

2
src/modules/ekf2/test/test_EKF_fusionLogic.cpp
View File

@ -157,7 +157,7 @@ TEST_F(EkfFusionLogicTest, rejectGpsSignalJump)
EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));
// BUT THEN: GPS fusion should reset after a while
// (it takes some time beacuse vel fusion is still good)
// (it takes some time because vel fusion is still good)
_sensor_simulator.runSeconds(14);
pos_new = _ekf->getPosition();
vel_new = _ekf->getVelocity();