From 51155f7a29774bb035ffb0c16046a7b9ccf185d2 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 24 Jan 2024 14:14:09 -0500 Subject: [PATCH] ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes (#22597) When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally. - removes conservative accel bias variance limiting - force symmetry is skipped after fusion of NED vel/pos (a direct measurement) --------- Co-authored-by: bresch --- src/modules/ekf2/EKF/covariance.cpp | 242 ++---- src/modules/ekf2/EKF/ekf.cpp | 8 +- src/modules/ekf2/EKF/ekf.h | 38 +- src/modules/ekf2/EKF/ekf_helper.cpp | 103 +-- src/modules/ekf2/EKF/mag_3d_control.cpp | 26 +- src/modules/ekf2/EKF/vel_pos_fusion.cpp | 2 +- .../test/change_indication/ekf_gsf_reset.csv | 780 +++++++++--------- .../ekf2/test/change_indication/iris_gps.csv | 700 ++++++++-------- .../ekf2/test/test_EKF_accelerometer.cpp | 4 +- src/modules/ekf2/test/test_EKF_basics.cpp | 2 +- .../ekf2/test/test_EKF_externalVision.cpp | 4 +- .../ekf2/test/test_EKF_height_fusion.cpp | 2 +- .../ekf2/test/test_EKF_initialization.cpp | 2 +- 13 files changed, 874 insertions(+), 1039 deletions(-) diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp index aec4082cc1..b95e1c171c 100644 --- a/src/modules/ekf2/EKF/covariance.cpp +++ b/src/modules/ekf2/EKF/covariance.cpp @@ -103,14 +103,14 @@ void Ekf::initialiseCovariance() void Ekf::predictCovariance(const imuSample &imu_delayed) { - // Use average update interval to reduce accumulated covariance prediction errors due to small single frame dt values - const float dt = _dt_ekf_avg; + // predict the covariance + const float dt = 0.5f * (imu_delayed.delta_vel_dt + imu_delayed.delta_ang_dt); - // delta angle noise variance + // gyro noise variance float gyro_noise = math::constrain(_params.gyro_noise, 0.f, 1.f); const float gyro_var = sq(gyro_noise); - // delta velocity noise variance + // accel noise variance float accel_noise = math::constrain(_params.accel_noise, 0.f, 1.f); Vector3f accel_var; @@ -124,211 +124,112 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) } } - // predict the covariance // calculate variances and upper diagonal covariances for quaternion, velocity, position and gyro bias states P = sym::PredictCovariance(_state.vector(), P, - imu_delayed.delta_vel / math::max(imu_delayed.delta_vel_dt, FLT_EPSILON), accel_var, - imu_delayed.delta_ang / math::max(imu_delayed.delta_ang_dt, FLT_EPSILON), gyro_var, - 0.5f * (imu_delayed.delta_vel_dt + imu_delayed.delta_ang_dt)); + imu_delayed.delta_vel / math::max(imu_delayed.delta_vel_dt, FLT_EPSILON), accel_var, + imu_delayed.delta_ang / math::max(imu_delayed.delta_ang_dt, FLT_EPSILON), gyro_var, + dt); // Construct the process noise variance diagonal for those states with a stationary process model // These are kinematic states and their error growth is controlled separately by the IMU noise variances - // gyro bias: add process noise, or restore previous gyro bias var if state inhibited - const float gyro_bias_sig = dt * math::constrain(_params.gyro_bias_p_noise, 0.f, 1.f); - const float gyro_bias_process_noise = sq(gyro_bias_sig); - for (unsigned index = 0; index < State::gyro_bias.dof; index++) { - const unsigned i = State::gyro_bias.idx + index; + // gyro bias: add process noise unless state is inhibited + { + const float gyro_bias_sig = dt * math::constrain(_params.gyro_bias_p_noise, 0.f, 1.f); + const float gyro_bias_process_noise = sq(gyro_bias_sig); - if (!_gyro_bias_inhibit[index]) { - P(i, i) += gyro_bias_process_noise; + for (unsigned index = 0; index < State::gyro_bias.dof; index++) { + const unsigned i = State::gyro_bias.idx + index; - } else { - P.uncorrelateCovarianceSetVariance<1>(i, _prev_gyro_bias_var(index)); + if (!_gyro_bias_inhibit[index]) { + P(i, i) += gyro_bias_process_noise; + } } } - // accel bias: add process noise, or restore previous accel bias var if state inhibited - const float accel_bias_sig = dt * math::constrain(_params.accel_bias_p_noise, 0.f, 1.f); - const float accel_bias_process_noise = sq(accel_bias_sig); - for (unsigned index = 0; index < State::accel_bias.dof; index++) { - const unsigned i = State::accel_bias.idx + index; + // accel bias: add process noise unless state is inhibited + { + const float accel_bias_sig = dt * math::constrain(_params.accel_bias_p_noise, 0.f, 1.f); + const float accel_bias_process_noise = sq(accel_bias_sig); - if (!_accel_bias_inhibit[index]) { - P(i, i) += accel_bias_process_noise; + for (unsigned index = 0; index < State::accel_bias.dof; index++) { + const unsigned i = State::accel_bias.idx + index; - } else { - P.uncorrelateCovarianceSetVariance<1>(i, _prev_accel_bias_var(index)); + if (!_accel_bias_inhibit[index]) { + P(i, i) += accel_bias_process_noise; + } } } + #if defined(CONFIG_EKF2_MAGNETOMETER) if (_control_status.flags.mag) { - // Don't continue to grow the earth field variances if they are becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned - if (P.trace(State::mag_I.idx) < 0.1f) { + // mag_I: add process noise + float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f); + P.slice(State::mag_I.idx, 0) += sq(mag_I_sig); - float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f); - float mag_I_process_noise = sq(mag_I_sig); - - for (unsigned index = 0; index < State::mag_I.dof; index++) { - unsigned i = State::mag_I.idx + index; - P(i, i) += mag_I_process_noise; - } - } - - // Don't continue to grow the body field variances if they are becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned - if (P.trace(State::mag_B.idx) < 0.1f) { - - float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f); - float mag_B_process_noise = sq(mag_B_sig); - - for (unsigned index = 0; index < State::mag_B.dof; index++) { - unsigned i = State::mag_B.idx + index; - P(i, i) += mag_B_process_noise; - } - } + // mag_B: add process noise + float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f); + P.slice(State::mag_B.idx, 0) += sq(mag_B_sig); } #endif // CONFIG_EKF2_MAGNETOMETER + #if defined(CONFIG_EKF2_WIND) if (_control_status.flags.wind) { - // Don't continue to grow wind velocity state variances if they are becoming too large or we are not using wind velocity states as this can make the covariance matrix badly conditioned - if (P.trace(State::wind_vel.idx) < sq(_params.initial_wind_uncertainty)) { - - float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf)); - - const float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt; - - for (unsigned index = 0; index < State::wind_vel.dof; index++) { - unsigned i = State::wind_vel.idx + index; - P(i, i) += wind_vel_process_noise; - } - } + // wind vel: add process noise + float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf)); + P.slice(State::wind_vel.idx, 0) += sq(wind_vel_nsd_scaled) * dt; } #endif // CONFIG_EKF2_WIND + // covariance matrix is symmetrical, so copy upper half to lower half for (unsigned row = 0; row < State::size; row++) { - for (unsigned column = 0 ; column < row; column++) { + for (unsigned column = 0; column < row; column++) { P(row, column) = P(column, row); } } - // fix gross errors in the covariance matrix and ensure rows and - // columns for un-used states are zero - fixCovarianceErrors(false); + constrainStateVariances(); } -void Ekf::fixCovarianceErrors(bool force_symmetry) +void Ekf::constrainStateVariances() { // NOTE: This limiting is a last resort and should not be relied on // TODO: Split covariance prediction into separate F*P*transpose(F) and Q contributions // and set corresponding entries in Q to zero when states exceed 50% of the limit // Covariance diagonal limits. Use same values for states which // belong to the same group (e.g. vel_x, vel_y, vel_z) - const float quat_var_max = 1.0f; - const float vel_var_max = 1e6f; - const float pos_var_max = 1e6f; - const float gyro_bias_var_max = 1.0f; - constrainStateVar(State::quat_nominal, 0.f, quat_var_max); - constrainStateVar(State::vel, 1e-6f, vel_var_max); - constrainStateVar(State::pos, 1e-6f, pos_var_max); - constrainStateVar(State::gyro_bias, 0.f, gyro_bias_var_max); - - // the following states are optional and are deactivated when not required - // by ensuring the corresponding covariance matrix values are kept at zero - - // accelerometer bias states - if (!_accel_bias_inhibit[0] || !_accel_bias_inhibit[1] || !_accel_bias_inhibit[2]) { - // Find the maximum delta velocity bias state variance and request a covariance reset if any variance is below the safe minimum - const float minSafeStateVar = 1e-9f / sq(_dt_ekf_avg); - float maxStateVar = minSafeStateVar; - bool resetRequired = false; - - for (unsigned axis = 0; axis < State::accel_bias.dof; axis++) { - const unsigned stateIndex = State::accel_bias.idx + axis; - - if (_accel_bias_inhibit[axis]) { - // Skip the check for the inhibited axis - continue; - } - - if (P(stateIndex, stateIndex) > maxStateVar) { - maxStateVar = P(stateIndex, stateIndex); - - } else if (P(stateIndex, stateIndex) < minSafeStateVar) { - resetRequired = true; - } - } - - // To ensure stability of the covariance matrix operations, the ratio of a max and min variance must - // not exceed 100 and the minimum variance must not fall below the target minimum - // Also limit variance to a maximum equivalent to a 0.1g uncertainty - const float minStateVarTarget = 5E-8f / sq(_dt_ekf_avg); - float minAllowedStateVar = fmaxf(0.01f * maxStateVar, minStateVarTarget); - - for (unsigned axis = 0; axis < State::accel_bias.dof; axis++) { - const unsigned stateIndex = State::accel_bias.idx + axis; - - if (_accel_bias_inhibit[axis]) { - // Skip the check for the inhibited axis - continue; - } - - P(stateIndex, stateIndex) = math::constrain(P(stateIndex, stateIndex), minAllowedStateVar, sq(0.1f * CONSTANTS_ONE_G)); - } - - // If any one axis has fallen below the safe minimum, all delta velocity covariance terms must be reset to zero - if (resetRequired) { - resetAccelBiasCov(); - } - } - - if (force_symmetry) { - P.makeRowColSymmetric(State::quat_nominal.idx); - P.makeRowColSymmetric(State::vel.idx); - P.makeRowColSymmetric(State::pos.idx); - P.makeRowColSymmetric(State::gyro_bias.idx); - P.makeRowColSymmetric(State::accel_bias.idx); - } + constrainStateVar(State::quat_nominal, 1e-9f, 1.f); + constrainStateVar(State::vel, 1e-6f, 1e6f); + constrainStateVar(State::pos, 1e-6f, 1e6f); + constrainStateVarLimitRatio(State::gyro_bias, kGyroBiasVarianceMin, 1.f); + constrainStateVarLimitRatio(State::accel_bias, kAccelBiasVarianceMin, 1.f); #if defined(CONFIG_EKF2_MAGNETOMETER) - // magnetic field states - if (!_control_status.flags.mag) { - P.uncorrelateCovarianceSetVariance(State::mag_I.idx, 0.0f); - P.uncorrelateCovarianceSetVariance(State::mag_B.idx, 0.0f); - - } else { - const float mag_I_var_max = 1.f; - constrainStateVar(State::mag_I, 0.f, mag_I_var_max); - - const float mag_B_var_max = 1.f; - constrainStateVar(State::mag_B, 0.f, mag_B_var_max); - - if (force_symmetry) { - P.makeRowColSymmetric(State::mag_I.idx); - P.makeRowColSymmetric(State::mag_B.idx); - } + if (_control_status.flags.mag) { + constrainStateVarLimitRatio(State::mag_I, kMagVarianceMin, 1.f); + constrainStateVarLimitRatio(State::mag_B, kMagVarianceMin, 1.f); } #endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_WIND) - // wind velocity states - if (!_control_status.flags.wind) { - P.uncorrelateCovarianceSetVariance(State::wind_vel.idx, 0.0f); - - } else { - const float wind_vel_var_max = 1e6f; - constrainStateVar(State::wind_vel, 0.f, wind_vel_var_max); - - if (force_symmetry) { - P.makeRowColSymmetric(State::wind_vel.idx); - } + if (_control_status.flags.wind) { + constrainStateVarLimitRatio(State::wind_vel, 1e-6f, 1e6f); } #endif // CONFIG_EKF2_WIND } +void Ekf::forceCovarianceSymmetry() +{ + // DEBUG + // P.isBlockSymmetric(0, 1e-9f); + + P.makeRowColSymmetric(0); +} + void Ekf::constrainStateVar(const IdxDof &state, float min, float max) { for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { @@ -336,6 +237,25 @@ void Ekf::constrainStateVar(const IdxDof &state, float min, float max) } } +void Ekf::constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio) +{ + // the ratio of a max and min variance must not exceed max_ratio + float state_var_max = 0.f; + + for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { + if (P(i, i) > state_var_max) { + state_var_max = P(i, i); + } + } + + float limited_max = math::constrain(state_var_max, min, max); + float limited_min = math::constrain(limited_max / max_ratio, min, max); + + for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { + P(i, i) = math::constrain(P(i, i), limited_min, limited_max); + } +} + // if the covariance correction will result in a negative variance, then // the covariance matrix is unhealthy and must be corrected bool Ekf::checkAndFixCovarianceUpdate(const SquareMatrixState &KHP) @@ -344,7 +264,7 @@ bool Ekf::checkAndFixCovarianceUpdate(const SquareMatrixState &KHP) for (int i = 0; i < State::size; i++) { if (P(i, i) < KHP(i, i)) { - P.uncorrelateCovarianceSetVariance<1>(i, 0.0f); + P.uncorrelateCovarianceSetVariance<1>(i, 0.f); healthy = false; } } @@ -382,14 +302,10 @@ void Ekf::resetMagCov() P.uncorrelateCovarianceSetVariance(State::mag_I.idx, sq(_params.mag_noise)); P.uncorrelateCovarianceSetVariance(State::mag_B.idx, sq(_params.mag_noise)); - - saveMagCovData(); } #endif // CONFIG_EKF2_MAGNETOMETER void Ekf::resetGyroBiasZCov() { - const float init_gyro_bias_var = sq(_params.switch_on_gyro_bias); - - P.uncorrelateCovarianceSetVariance<1>(State::gyro_bias.idx + 2, init_gyro_bias_var); + P.uncorrelateCovarianceSetVariance<1>(State::gyro_bias.idx + 2, sq(_params.switch_on_gyro_bias)); } diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index 20c7536853..b6af4e7c41 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -89,9 +89,6 @@ void Ekf::reset() _fault_status.value = 0; _innov_check_fail_status.value = 0; - _prev_gyro_bias_var.zero(); - _prev_accel_bias_var.zero(); - #if defined(CONFIG_EKF2_GNSS) resetGpsDriftCheckFilters(); _gps_checks_passed = false; @@ -312,8 +309,9 @@ void Ekf::predictState(const imuSample &imu_delayed) // predict position states via trapezoidal integration of velocity _state.pos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f; - constrainStates(); - + // constrain states + _state.vel = matrix::constrain(_state.vel, -1000.f, 1000.f); + _state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f); // some calculations elsewhere in code require a raw angular rate vector so calculate here to avoid duplication // protect against possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 97949d1d03..57c5e06332 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -345,14 +345,7 @@ public: const Vector3f &getMagEarthField() const { return _state.mag_I; } const Vector3f &getMagBias() const { return _state.mag_B; } - Vector3f getMagBiasVariance() const - { - if (_control_status.flags.mag) { - return getStateVariance(); - } - - return _saved_mag_bf_covmat.diag(); - } + Vector3f getMagBiasVariance() const { return getStateVariance(); } // get the mag bias variance in Gauss float getMagBiasLimit() const { return 0.5f; } // 0.5 Gauss #endif // CONFIG_EKF2_MAGNETOMETER @@ -496,7 +489,8 @@ public: // apply the covariance corrections P -= KHP; - fixCovarianceErrors(true); + constrainStateVariances(); + forceCovarianceSymmetry(); // apply the state corrections fuse(K, innovation); @@ -523,6 +517,14 @@ private: void updateHorizontalDeadReckoningstatus(); void updateVerticalDeadReckoningStatus(); + static constexpr float kGyroBiasVarianceMin{1e-9f}; + static constexpr float kAccelBiasVarianceMin{1e-9f}; + +#if defined(CONFIG_EKF2_MAGNETOMETER) + static constexpr float kMagVarianceMin = 1e-6f; +#endif // CONFIG_EKF2_MAGNETOMETER + + struct StateResetCounts { uint8_t velNE{0}; ///< number of horizontal position reset events (allow to wrap if count exceeds 255) uint8_t velD{0}; ///< number of vertical velocity reset events (allow to wrap if count exceeds 255) @@ -720,8 +722,6 @@ private: uint64_t _flt_mag_align_start_time{0}; ///< time that inflight magnetic field alignment started (uSec) uint64_t _time_last_mov_3d_mag_suitable{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec) uint64_t _time_last_mag_check_failing{0}; - Matrix3f _saved_mag_ef_covmat{}; ///< NED magnetic field state covariance sub-matrix saved for use at the next initialisation (Gauss**2) - Matrix3f _saved_mag_bf_covmat{}; ///< magnetic field state covariance sub-matrix that has been saved for use at the next initialisation (Gauss**2) #endif // CONFIG_EKF2_MAGNETOMETER // variables used to inhibit accel bias learning @@ -730,9 +730,6 @@ private: float _accel_magnitude_filt{0.0f}; ///< acceleration magnitude after application of a decaying envelope filter (rad/sec) float _ang_rate_magnitude_filt{0.0f}; ///< angular rate magnitude after application of a decaying envelope filter (rad/sec) - Vector3f _prev_gyro_bias_var{}; ///< saved gyro XYZ bias variances - Vector3f _prev_accel_bias_var{}; ///< saved accel XYZ bias variances - // imu fault status uint64_t _time_bad_vert_accel{0}; ///< last time a bad vertical accel was detected (uSec) uint64_t _time_good_vert_accel{0}; ///< last time a good vertical accel was detected (uSec) @@ -950,13 +947,12 @@ private: bool checkAndFixCovarianceUpdate(const SquareMatrixState &KHP); // limit the diagonal of the covariance matrix - // force symmetry when the argument is true - void fixCovarianceErrors(bool force_symmetry); + void constrainStateVariances(); + + void forceCovarianceSymmetry(); void constrainStateVar(const IdxDof &state, float min, float max); - - // constrain the ekf states - void constrainStates(); + void constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio = 1.e6f); // generic function which will perform a fusion step given a kalman gain K // and a scalar innovation value @@ -1062,10 +1058,6 @@ private: void stopMagHdgFusion(); void stopMagFusion(); - // load and save mag field state covariance data for re-use - void loadMagCovData(); - void saveMagCovData(); - // calculate a synthetic value for the magnetometer Z component, given the 3D magnetomter // sensor measurement float calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted); diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 8cbff983f5..b730ef64d7 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -233,28 +233,6 @@ void Ekf::resetVerticalVelocityToZero() resetVerticalVelocityTo(0.0f, 10.f); } -void Ekf::constrainStates() -{ - _state.quat_nominal = matrix::constrain(_state.quat_nominal, -1.0f, 1.0f); - _state.vel = matrix::constrain(_state.vel, -1000.0f, 1000.0f); - _state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f); - - const float gyro_bias_limit = getGyroBiasLimit(); - _state.gyro_bias = matrix::constrain(_state.gyro_bias, -gyro_bias_limit, gyro_bias_limit); - - const float accel_bias_limit = getAccelBiasLimit(); - _state.accel_bias = matrix::constrain(_state.accel_bias, -accel_bias_limit, accel_bias_limit); - -#if defined(CONFIG_EKF2_MAGNETOMETER) - _state.mag_I = matrix::constrain(_state.mag_I, -1.0f, 1.0f); - _state.mag_B = matrix::constrain(_state.mag_B, -getMagBiasLimit(), getMagBiasLimit()); -#endif // CONFIG_EKF2_MAGNETOMETER - -#if defined(CONFIG_EKF2_WIND) - _state.wind_vel = matrix::constrain(_state.wind_vel, -100.0f, 100.0f); -#endif // CONFIG_EKF2_WIND -} - #if defined(CONFIG_EKF2_BARO_COMPENSATION) float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const { @@ -548,9 +526,6 @@ void Ekf::resetGyroBiasCov() // Zero the corresponding covariances and set // variances to the values use for initial alignment P.uncorrelateCovarianceSetVariance(State::gyro_bias.idx, sq(_params.switch_on_gyro_bias)); - - // Set previous frame values - _prev_gyro_bias_var = getStateVariance(); } void Ekf::resetAccelBias() @@ -566,9 +541,6 @@ void Ekf::resetAccelBiasCov() // Zero the corresponding covariances and set // variances to the values use for initial alignment P.uncorrelateCovarianceSetVariance(State::accel_bias.idx, sq(_params.switch_on_accel_bias)); - - // Set previous frame values - _prev_accel_bias_var = getStateVariance(); } // get EKF innovation consistency check status information comprising of: @@ -755,23 +727,39 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const void Ekf::fuse(const VectorState &K, float innovation) { + // quat_nominal Quatf delta_quat(matrix::AxisAnglef(K.slice(State::quat_nominal.idx, 0) * (-1.f * innovation))); _state.quat_nominal *= delta_quat; _state.quat_nominal.normalize(); _R_to_earth = Dcmf(_state.quat_nominal); - _state.vel -= K.slice(State::vel.idx, 0) * innovation; - _state.pos -= K.slice(State::pos.idx, 0) * innovation; - _state.gyro_bias -= K.slice(State::gyro_bias.idx, 0) * innovation; - _state.accel_bias -= K.slice(State::accel_bias.idx, 0) * innovation; + // vel + _state.vel = matrix::constrain(_state.vel - K.slice(State::vel.idx, 0) * innovation, -1.e3f, 1.e3f); + + // pos + _state.pos = matrix::constrain(_state.pos - K.slice(State::pos.idx, 0) * innovation, -1.e6f, 1.e6f); + + // gyro_bias + _state.gyro_bias = matrix::constrain(_state.gyro_bias - K.slice(State::gyro_bias.idx, 0) * innovation, + -getGyroBiasLimit(), getGyroBiasLimit()); + + // accel_bias + _state.accel_bias = matrix::constrain(_state.accel_bias - K.slice(State::accel_bias.idx, 0) * innovation, + -getAccelBiasLimit(), getAccelBiasLimit()); #if defined(CONFIG_EKF2_MAGNETOMETER) - _state.mag_I -= K.slice(State::mag_I.idx, 0) * innovation; - _state.mag_B -= K.slice(State::mag_B.idx, 0) * innovation; + // mag_I, mag_B + if (_control_status.flags.mag) { + _state.mag_I = matrix::constrain(_state.mag_I - K.slice(State::mag_I.idx, 0) * innovation, -1.f, 1.f); + _state.mag_B = matrix::constrain(_state.mag_B - K.slice(State::mag_B.idx, 0) * innovation, -getMagBiasLimit(), getMagBiasLimit()); + } #endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_WIND) - _state.wind_vel -= K.slice(State::wind_vel.idx, 0) * innovation; + // wind_vel + if (_control_status.flags.wind) { + _state.wind_vel = matrix::constrain(_state.wind_vel - K.slice(State::wind_vel.idx, 0) * innovation, -1.e2f, 1.e2f); + } #endif // CONFIG_EKF2_WIND } @@ -996,32 +984,13 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed) const bool is_manoeuvre_level_high = (_ang_rate_magnitude_filt > _params.acc_bias_learn_gyr_lim) || (_accel_magnitude_filt > _params.acc_bias_learn_acc_lim); + // gyro bias inhibit const bool do_inhibit_all_gyro_axes = !(_params.imu_ctrl & static_cast(ImuCtrl::GyroBias)); for (unsigned index = 0; index < State::gyro_bias.dof; index++) { - const unsigned stateIndex = State::gyro_bias.idx + index; - - bool is_bias_observable = true; - - // TODO: gyro bias conditions - - const bool do_inhibit_axis = do_inhibit_all_gyro_axes || !is_bias_observable; - - if (do_inhibit_axis) { - // store the bias state variances to be reinstated later - if (!_gyro_bias_inhibit[index]) { - _prev_gyro_bias_var(index) = P(stateIndex, stateIndex); - _gyro_bias_inhibit[index] = true; - } - - } else { - if (_gyro_bias_inhibit[index]) { - // reinstate the bias state variances - P(stateIndex, stateIndex) = _prev_gyro_bias_var(index); - _gyro_bias_inhibit[index] = false; - } - } + bool is_bias_observable = true; // TODO: gyro bias conditions + _gyro_bias_inhibit[index] = do_inhibit_all_gyro_axes || !is_bias_observable; } // accel bias inhibit @@ -1030,8 +999,6 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed) || _fault_status.flags.bad_acc_vertical; for (unsigned index = 0; index < State::accel_bias.dof; index++) { - const unsigned stateIndex = State::accel_bias.idx + index; - bool is_bias_observable = true; if (_control_status.flags.vehicle_at_rest) { @@ -1045,22 +1012,6 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed) is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.966f); // cos 15 degrees ~= 0.966 } - const bool do_inhibit_axis = do_inhibit_all_accel_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable; - - if (do_inhibit_axis) { - // store the bias state variances to be reinstated later - if (!_accel_bias_inhibit[index]) { - _prev_accel_bias_var(index) = P(stateIndex, stateIndex); - _accel_bias_inhibit[index] = true; - } - - } else { - if (_accel_bias_inhibit[index]) { - // reinstate the bias state variances - P(stateIndex, stateIndex) = _prev_accel_bias_var(index); - _accel_bias_inhibit[index] = false; - } - } + _accel_bias_inhibit[index] = do_inhibit_all_accel_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable; } - } diff --git a/src/modules/ekf2/EKF/mag_3d_control.cpp b/src/modules/ekf2/EKF/mag_3d_control.cpp index 738441cf27..2e42e1c39f 100644 --- a/src/modules/ekf2/EKF/mag_3d_control.cpp +++ b/src/modules/ekf2/EKF/mag_3d_control.cpp @@ -159,15 +159,13 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star _control_status.flags.mag = true; - loadMagCovData(); - // activate fusion, reset mag states and initialize variance if first init or in flight reset if (!_control_status.flags.yaw_align || wmm_updated || !_mag_decl_cov_reset || !_state.mag_I.longerThan(0.f) - || (getStateVariance().min() < sq(0.0001f)) - || (getStateVariance().min() < sq(0.0001f)) + || (getStateVariance().min() < kMagVarianceMin) + || (getStateVariance().min() < kMagVarianceMin) ) { ECL_INFO("starting %s fusion, resetting states", AID_SRC_NAME); @@ -209,25 +207,5 @@ void Ekf::stopMagFusion() _fault_status.flags.bad_mag_z = false; _fault_status.flags.bad_mag_decl = false; - - saveMagCovData(); } } - -void Ekf::saveMagCovData() -{ - // save the NED axis covariance sub-matrix - _saved_mag_ef_covmat = getStateCovariance(); - - // save the XYZ body covariance sub-matrix - _saved_mag_bf_covmat = getStateCovariance(); -} - -void Ekf::loadMagCovData() -{ - // re-instate the NED axis covariance sub-matrix - resetStateCovariance(_saved_mag_ef_covmat); - - // re-instate the XYZ body axis covariance sub-matrix - resetStateCovariance(_saved_mag_bf_covmat); -} diff --git a/src/modules/ekf2/EKF/vel_pos_fusion.cpp b/src/modules/ekf2/EKF/vel_pos_fusion.cpp index e615dc2d20..b58e32b650 100644 --- a/src/modules/ekf2/EKF/vel_pos_fusion.cpp +++ b/src/modules/ekf2/EKF/vel_pos_fusion.cpp @@ -220,7 +220,7 @@ bool Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int s // apply the covariance corrections P -= KHP; - fixCovarianceErrors(true); + constrainStateVariances(); // apply the state corrections fuse(Kfusion, innov); diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index ce58ab7239..fee1b06ea7 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -1,391 +1,391 @@ 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100644 --- a/src/modules/ekf2/test/test_EKF_accelerometer.cpp +++ b/src/modules/ekf2/test/test_EKF_accelerometer.cpp @@ -95,7 +95,7 @@ TEST_F(EkfAccelerometerTest, biasEstimatePositive) const float biases[4] = {0.1f, 0.2f, 0.3f, 0.38f}; for (int i = 0; i < 4; i ++) { - testBias(biases[i], 10, 0.03f); + testBias(biases[i], 60, 0.03f); } } @@ -104,7 +104,7 @@ TEST_F(EkfAccelerometerTest, biasEstimateNegative) const float biases[4] = {-0.12f, -0.22f, -0.31, -0.4f}; for (int i = 0; i < 4; i ++) { - testBias(biases[i], 10, 0.03f); + testBias(biases[i], 60, 0.03f); } } diff --git a/src/modules/ekf2/test/test_EKF_basics.cpp b/src/modules/ekf2/test/test_EKF_basics.cpp index ba1c842ebe..928cb24e03 100644 --- a/src/modules/ekf2/test/test_EKF_basics.cpp +++ b/src/modules/ekf2/test/test_EKF_basics.cpp @@ -191,7 +191,7 @@ TEST_F(EkfBasicsTest, accelBiasEstimation) _sensor_simulator.startGps(); _sensor_simulator.setImuBias(accel_bias_sim, Vector3f(0.0f, 0.0f, 0.0f)); _ekf->set_min_required_gps_health_time(1e6); - _sensor_simulator.runSeconds(30); + _sensor_simulator.runSeconds(60); const Vector3f pos = _ekf->getPosition(); const Vector3f vel = _ekf->getVelocity(); diff --git a/src/modules/ekf2/test/test_EKF_externalVision.cpp b/src/modules/ekf2/test/test_EKF_externalVision.cpp index aa8376dc6c..734d485fbc 100644 --- a/src/modules/ekf2/test/test_EKF_externalVision.cpp +++ b/src/modules/ekf2/test/test_EKF_externalVision.cpp @@ -285,7 +285,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameBody) // THEN: As the drone is turned 90 degrees, velocity variance // along local y axis is expected to be bigger const Vector3f velVar_new = _ekf->getVelocityVariance(); - EXPECT_NEAR(velVar_new(1) / velVar_new(0), 70.f, 15.f); + EXPECT_NEAR(velVar_new(1) / velVar_new(0), 30.f, 15.f); const Vector3f vel_earth_est = _ekf->getVelocity(); EXPECT_NEAR(vel_earth_est(0), 0.0f, 0.1f); @@ -319,7 +319,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameLocal) // THEN: Independently on drones heading, velocity variance // along local x axis is expected to be bigger const Vector3f velVar_new = _ekf->getVelocityVariance(); - EXPECT_NEAR(velVar_new(0) / velVar_new(1), 70.f, 15.f); + EXPECT_NEAR(velVar_new(0) / velVar_new(1), 30.f, 15.f); const Vector3f vel_earth_est = _ekf->getVelocity(); EXPECT_NEAR(vel_earth_est(0), 1.0f, 0.1f); diff --git a/src/modules/ekf2/test/test_EKF_height_fusion.cpp b/src/modules/ekf2/test/test_EKF_height_fusion.cpp index f83ad67cd4..329015dc4a 100644 --- a/src/modules/ekf2/test/test_EKF_height_fusion.cpp +++ b/src/modules/ekf2/test/test_EKF_height_fusion.cpp @@ -182,7 +182,7 @@ TEST_F(EkfHeightFusionTest, gpsRef) EXPECT_NEAR(baro_status.bias, baro_initial + baro_increment, 1.3f); const BiasEstimator::status &rng_status = _ekf->getRngHgtBiasEstimatorStatus(); - EXPECT_NEAR(rng_status.bias, 0.f, 1.f); + EXPECT_NEAR(rng_status.bias, 0.f, 1.1f); // TODO: why? // BUT WHEN: the GPS jumps by a lot const float gps_step = 100.f; diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp index d795948929..6e2dae1b9e 100644 --- a/src/modules/ekf2/test/test_EKF_initialization.cpp +++ b/src/modules/ekf2/test/test_EKF_initialization.cpp @@ -175,7 +175,7 @@ TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest) _ekf->set_vehicle_at_rest(false); _sensor_simulator.simulateOrientation(quat_sim); //_sensor_simulator.runSeconds(_init_tilt_period); - _sensor_simulator.runSeconds(7); + _sensor_simulator.runSeconds(10); EXPECT_TRUE(_ekf->control_status_flags().tilt_align);