forked from Archive/PX4-Autopilot
EKF: update derivation files
This commit is contained in:
Paul Riseborough
parent
82da832816
commit
57d3036ee7
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@ -1,15 +1,8 @@
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t2 = 1.0/range;
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t3 = q0*q0;
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t4 = q1*q1;
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t5 = q2*q2;
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t6 = q3*q3;
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t7 = q0*q2*2.0;
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t8 = q1*q3*2.0;
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t9 = q0*q3*2.0;
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t10 = q1*q2*2.0;
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t11 = q0*q1*2.0;
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A0[0][0] = t2*(vn*(t7+t8)+vd*(t3-t4-t5+t6)-ve*(t11-q2*q3*2.0));
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A0[0][2] = -t2*(ve*(t9+t10)-vd*(t7-t8)+vn*(t3+t4-t5-t6));
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A0[0][3] = -t2*(t9-t10);
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A0[0][4] = t2*(t3-t4+t5-t6);
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A0[0][5] = t2*(t11+q2*q3*2.0);
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A0[0][0] = t2*(q1*vd*2.0+q0*ve*2.0-q3*vn*2.0);
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A0[0][1] = t2*(q0*vd*2.0-q1*ve*2.0+q2*vn*2.0);
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A0[0][2] = t2*(q3*vd*2.0+q2*ve*2.0+q1*vn*2.0);
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A0[0][3] = -t2*(q2*vd*-2.0+q3*ve*2.0+q0*vn*2.0);
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A0[0][4] = -t2*(q0*q3*2.0-q1*q2*2.0);
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A0[0][5] = t2*(q0*q0-q1*q1+q2*q2-q3*q3);
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A0[0][6] = t2*(q0*q1*2.0+q2*q3*2.0);
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@ -1,14 +1,8 @@
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t2 = 1.0/range;
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t3 = q0*q0;
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t4 = q1*q1;
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t5 = q2*q2;
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t6 = q3*q3;
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t7 = q0*q1*2.0;
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t8 = q0*q3*2.0;
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t9 = q0*q2*2.0;
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t10 = q1*q3*2.0;
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A0[0][1] = t2*(vn*(t9+t10)+vd*(t3-t4-t5+t6)-ve*(t7-q2*q3*2.0));
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A0[0][2] = -t2*(ve*(t3-t4+t5-t6)+vd*(t7+q2*q3*2.0)-vn*(t8-q1*q2*2.0));
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A0[0][3] = -t2*(t3+t4-t5-t6);
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A0[0][4] = -t2*(t8+q1*q2*2.0);
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A0[0][5] = t2*(t9-t10);
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A0[0][0] = -t2*(q2*vd*-2.0+q3*ve*2.0+q0*vn*2.0);
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A0[0][1] = -t2*(q3*vd*2.0+q2*ve*2.0+q1*vn*2.0);
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A0[0][2] = t2*(q0*vd*2.0-q1*ve*2.0+q2*vn*2.0);
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A0[0][3] = -t2*(q1*vd*2.0+q0*ve*2.0-q3*vn*2.0);
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A0[0][4] = -t2*(q0*q0+q1*q1-q2*q2-q3*q3);
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A0[0][5] = -t2*(q0*q3*2.0+q1*q2*2.0);
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A0[0][6] = t2*(q0*q2*2.0-q1*q3*2.0);
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@ -1,89 +1,117 @@
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t2 = 1.0/range;
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t3 = q0*q1*2.0;
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t4 = q2*q3*2.0;
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t5 = q0*q0;
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t6 = q1*q1;
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t7 = q2*q2;
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t8 = q3*q3;
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t9 = q0*q2*2.0;
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t10 = q1*q3*2.0;
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t11 = q0*q3*2.0;
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t12 = q1*q2*2.0;
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t13 = t11-t12;
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t14 = t3+t4;
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t15 = t5-t6-t7+t8;
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t16 = t15*vd;
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t17 = t3-t4;
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t18 = t9+t10;
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t19 = t18*vn;
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t28 = t17*ve;
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t20 = t16+t19-t28;
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t21 = t5+t6-t7-t8;
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t22 = t21*vn;
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t23 = t9-t10;
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t24 = t11+t12;
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t25 = t24*ve;
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t29 = t23*vd;
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t26 = t22+t25-t29;
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t27 = t5-t6+t7-t8;
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t30 = P[0][0]*t2*t20;
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t31 = P[5][3]*t2*t14;
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t32 = P[0][3]*t2*t20;
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t33 = P[4][3]*t2*t27;
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t56 = P[3][3]*t2*t13;
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t57 = P[2][3]*t2*t26;
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t34 = t31+t32+t33-t56-t57;
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t35 = P[5][5]*t2*t14;
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t36 = P[0][5]*t2*t20;
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t37 = P[4][5]*t2*t27;
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t59 = P[3][5]*t2*t13;
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t60 = P[2][5]*t2*t26;
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t38 = t35+t36+t37-t59-t60;
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t39 = t2*t14*t38;
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t40 = P[5][0]*t2*t14;
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t41 = P[4][0]*t2*t27;
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t61 = P[3][0]*t2*t13;
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t62 = P[2][0]*t2*t26;
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t42 = t30+t40+t41-t61-t62;
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t43 = t2*t20*t42;
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t44 = P[5][2]*t2*t14;
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t45 = P[0][2]*t2*t20;
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t46 = P[4][2]*t2*t27;
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t55 = P[2][2]*t2*t26;
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t63 = P[3][2]*t2*t13;
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t47 = t44+t45+t46-t55-t63;
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t48 = P[5][4]*t2*t14;
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t49 = P[0][4]*t2*t20;
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t50 = P[4][4]*t2*t27;
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t65 = P[3][4]*t2*t13;
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t66 = P[2][4]*t2*t26;
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t51 = t48+t49+t50-t65-t66;
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t52 = t2*t27*t51;
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t58 = t2*t13*t34;
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t64 = t2*t26*t47;
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t53 = R_LOS+t39+t43+t52-t58-t64;
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t54 = 1.0/t53;
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A0[0][0] = t54*(t30-P[0][3]*t2*(t11-q1*q2*2.0)+P[0][5]*t2*t14-P[0][2]*t2*t26+P[0][4]*t2*t27);
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A0[1][0] = t54*(-P[1][3]*t2*t13+P[1][5]*t2*t14+P[1][0]*t2*t20-P[1][2]*t2*t26+P[1][4]*t2*t27);
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A0[2][0] = t54*(-t55-P[2][3]*t2*t13+P[2][5]*t2*t14+P[2][0]*t2*t20+P[2][4]*t2*t27);
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A0[3][0] = t54*(-t56+P[3][5]*t2*t14+P[3][0]*t2*t20-P[3][2]*t2*t26+P[3][4]*t2*t27);
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A0[4][0] = t54*(t50-P[4][3]*t2*t13+P[4][5]*t2*t14+P[4][0]*t2*t20-P[4][2]*t2*t26);
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A0[5][0] = t54*(t35-P[5][3]*t2*t13+P[5][0]*t2*t20-P[5][2]*t2*t26+P[5][4]*t2*t27);
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A0[6][0] = t54*(-P[6][3]*t2*t13+P[6][5]*t2*t14+P[6][0]*t2*t20-P[6][2]*t2*t26+P[6][4]*t2*t27);
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A0[7][0] = t54*(-P[7][3]*t2*t13+P[7][5]*t2*t14+P[7][0]*t2*t20-P[7][2]*t2*t26+P[7][4]*t2*t27);
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A0[8][0] = t54*(-P[8][3]*t2*t13+P[8][5]*t2*t14+P[8][0]*t2*t20-P[8][2]*t2*t26+P[8][4]*t2*t27);
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A0[9][0] = t54*(-P[9][3]*t2*t13+P[9][5]*t2*t14+P[9][0]*t2*t20-P[9][2]*t2*t26+P[9][4]*t2*t27);
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A0[10][0] = t54*(-P[10][3]*t2*t13+P[10][5]*t2*t14+P[10][0]*t2*t20-P[10][2]*t2*t26+P[10][4]*t2*t27);
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A0[11][0] = t54*(-P[11][3]*t2*t13+P[11][5]*t2*t14+P[11][0]*t2*t20-P[11][2]*t2*t26+P[11][4]*t2*t27);
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A0[12][0] = t54*(-P[12][3]*t2*t13+P[12][5]*t2*t14+P[12][0]*t2*t20-P[12][2]*t2*t26+P[12][4]*t2*t27);
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A0[13][0] = t54*(-P[13][3]*t2*t13+P[13][5]*t2*t14+P[13][0]*t2*t20-P[13][2]*t2*t26+P[13][4]*t2*t27);
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A0[14][0] = t54*(-P[14][3]*t2*t13+P[14][5]*t2*t14+P[14][0]*t2*t20-P[14][2]*t2*t26+P[14][4]*t2*t27);
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A0[15][0] = t54*(-P[15][3]*t2*t13+P[15][5]*t2*t14+P[15][0]*t2*t20-P[15][2]*t2*t26+P[15][4]*t2*t27);
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A0[16][0] = t54*(-P[16][3]*t2*t13+P[16][5]*t2*t14+P[16][0]*t2*t20-P[16][2]*t2*t26+P[16][4]*t2*t27);
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A0[17][0] = t54*(-P[17][3]*t2*t13+P[17][5]*t2*t14+P[17][0]*t2*t20-P[17][2]*t2*t26+P[17][4]*t2*t27);
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A0[18][0] = t54*(-P[18][3]*t2*t13+P[18][5]*t2*t14+P[18][0]*t2*t20-P[18][2]*t2*t26+P[18][4]*t2*t27);
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A0[19][0] = t54*(-P[19][3]*t2*t13+P[19][5]*t2*t14+P[19][0]*t2*t20-P[19][2]*t2*t26+P[19][4]*t2*t27);
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A0[20][0] = t54*(-P[20][3]*t2*t13+P[20][5]*t2*t14+P[20][0]*t2*t20-P[20][2]*t2*t26+P[20][4]*t2*t27);
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A0[21][0] = t54*(-P[21][3]*t2*t13+P[21][5]*t2*t14+P[21][0]*t2*t20-P[21][2]*t2*t26+P[21][4]*t2*t27);
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A0[22][0] = t54*(-P[22][3]*t2*t13+P[22][5]*t2*t14+P[22][0]*t2*t20-P[22][2]*t2*t26+P[22][4]*t2*t27);
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A0[23][0] = t54*(-P[23][3]*t2*t13+P[23][5]*t2*t14+P[23][0]*t2*t20-P[23][2]*t2*t26+P[23][4]*t2*t27);
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t3 = q1*vd*2.0;
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t4 = q0*ve*2.0;
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t11 = q3*vn*2.0;
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t5 = t3+t4-t11;
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t6 = q0*q3*2.0;
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t29 = q1*q2*2.0;
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t7 = t6-t29;
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t8 = q0*q1*2.0;
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t9 = q2*q3*2.0;
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t10 = t8+t9;
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t12 = P[0][0]*t2*t5;
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t13 = q0*vd*2.0;
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t14 = q2*vn*2.0;
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t28 = q1*ve*2.0;
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t15 = t13+t14-t28;
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t16 = q3*vd*2.0;
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t17 = q2*ve*2.0;
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t18 = q1*vn*2.0;
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t19 = t16+t17+t18;
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t20 = q3*ve*2.0;
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t21 = q0*vn*2.0;
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t30 = q2*vd*2.0;
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t22 = t20+t21-t30;
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t23 = q0*q0;
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t24 = q1*q1;
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t25 = q2*q2;
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t26 = q3*q3;
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t27 = t23-t24+t25-t26;
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t31 = P[1][1]*t2*t15;
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t32 = P[6][0]*t2*t10;
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t33 = P[1][0]*t2*t15;
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t34 = P[2][0]*t2*t19;
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t35 = P[5][0]*t2*t27;
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t79 = P[4][0]*t2*t7;
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t80 = P[3][0]*t2*t22;
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t36 = t12+t32+t33+t34+t35-t79-t80;
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t37 = t2*t5*t36;
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t38 = P[6][1]*t2*t10;
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t39 = P[0][1]*t2*t5;
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t40 = P[2][1]*t2*t19;
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t41 = P[5][1]*t2*t27;
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t81 = P[4][1]*t2*t7;
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t82 = P[3][1]*t2*t22;
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t42 = t31+t38+t39+t40+t41-t81-t82;
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t43 = t2*t15*t42;
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t44 = P[6][2]*t2*t10;
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t45 = P[0][2]*t2*t5;
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t46 = P[1][2]*t2*t15;
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t47 = P[2][2]*t2*t19;
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t48 = P[5][2]*t2*t27;
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t83 = P[4][2]*t2*t7;
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t84 = P[3][2]*t2*t22;
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t49 = t44+t45+t46+t47+t48-t83-t84;
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t50 = t2*t19*t49;
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t51 = P[6][3]*t2*t10;
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t52 = P[0][3]*t2*t5;
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t53 = P[1][3]*t2*t15;
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t54 = P[2][3]*t2*t19;
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t55 = P[5][3]*t2*t27;
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t85 = P[4][3]*t2*t7;
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t86 = P[3][3]*t2*t22;
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t56 = t51+t52+t53+t54+t55-t85-t86;
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t57 = P[6][5]*t2*t10;
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t58 = P[0][5]*t2*t5;
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t59 = P[1][5]*t2*t15;
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t60 = P[2][5]*t2*t19;
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t61 = P[5][5]*t2*t27;
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t88 = P[4][5]*t2*t7;
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t89 = P[3][5]*t2*t22;
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t62 = t57+t58+t59+t60+t61-t88-t89;
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t63 = t2*t27*t62;
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t64 = P[6][4]*t2*t10;
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t65 = P[0][4]*t2*t5;
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t66 = P[1][4]*t2*t15;
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t67 = P[2][4]*t2*t19;
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t68 = P[5][4]*t2*t27;
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t90 = P[4][4]*t2*t7;
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t91 = P[3][4]*t2*t22;
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t69 = t64+t65+t66+t67+t68-t90-t91;
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t70 = P[6][6]*t2*t10;
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t71 = P[0][6]*t2*t5;
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t72 = P[1][6]*t2*t15;
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t73 = P[2][6]*t2*t19;
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t74 = P[5][6]*t2*t27;
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t93 = P[4][6]*t2*t7;
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t94 = P[3][6]*t2*t22;
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t75 = t70+t71+t72+t73+t74-t93-t94;
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t76 = t2*t10*t75;
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t87 = t2*t22*t56;
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t92 = t2*t7*t69;
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t77 = R_LOS+t37+t43+t50+t63+t76-t87-t92;
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t78 = 1.0/t77;
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A0[0][0] = t78*(t12-P[0][4]*t2*t7+P[0][1]*t2*t15+P[0][6]*t2*t10+P[0][2]*t2*t19-P[0][3]*t2*t22+P[0][5]*t2*t27);
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A0[1][0] = t78*(t31+P[1][0]*t2*t5-P[1][4]*t2*t7+P[1][6]*t2*t10+P[1][2]*t2*t19-P[1][3]*t2*t22+P[1][5]*t2*t27);
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A0[2][0] = t78*(t47+P[2][0]*t2*t5-P[2][4]*t2*t7+P[2][1]*t2*t15+P[2][6]*t2*t10-P[2][3]*t2*t22+P[2][5]*t2*t27);
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A0[3][0] = t78*(-t86+P[3][0]*t2*t5-P[3][4]*t2*t7+P[3][1]*t2*t15+P[3][6]*t2*t10+P[3][2]*t2*t19+P[3][5]*t2*t27);
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A0[4][0] = t78*(-t90+P[4][0]*t2*t5+P[4][1]*t2*t15+P[4][6]*t2*t10+P[4][2]*t2*t19-P[4][3]*t2*t22+P[4][5]*t2*t27);
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A0[5][0] = t78*(t61+P[5][0]*t2*t5-P[5][4]*t2*t7+P[5][1]*t2*t15+P[5][6]*t2*t10+P[5][2]*t2*t19-P[5][3]*t2*t22);
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A0[6][0] = t78*(t70+P[6][0]*t2*t5-P[6][4]*t2*t7+P[6][1]*t2*t15+P[6][2]*t2*t19-P[6][3]*t2*t22+P[6][5]*t2*t27);
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A0[7][0] = t78*(P[7][0]*t2*t5-P[7][4]*t2*t7+P[7][1]*t2*t15+P[7][6]*t2*t10+P[7][2]*t2*t19-P[7][3]*t2*t22+P[7][5]*t2*t27);
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A0[8][0] = t78*(P[8][0]*t2*t5-P[8][4]*t2*t7+P[8][1]*t2*t15+P[8][6]*t2*t10+P[8][2]*t2*t19-P[8][3]*t2*t22+P[8][5]*t2*t27);
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A0[9][0] = t78*(P[9][0]*t2*t5-P[9][4]*t2*t7+P[9][1]*t2*t15+P[9][6]*t2*t10+P[9][2]*t2*t19-P[9][3]*t2*t22+P[9][5]*t2*t27);
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A0[10][0] = t78*(P[10][0]*t2*t5-P[10][4]*t2*t7+P[10][1]*t2*t15+P[10][6]*t2*t10+P[10][2]*t2*t19-P[10][3]*t2*t22+P[10][5]*t2*t27);
|
||||
A0[11][0] = t78*(P[11][0]*t2*t5-P[11][4]*t2*t7+P[11][1]*t2*t15+P[11][6]*t2*t10+P[11][2]*t2*t19-P[11][3]*t2*t22+P[11][5]*t2*t27);
|
||||
A0[12][0] = t78*(P[12][0]*t2*t5-P[12][4]*t2*t7+P[12][1]*t2*t15+P[12][6]*t2*t10+P[12][2]*t2*t19-P[12][3]*t2*t22+P[12][5]*t2*t27);
|
||||
A0[13][0] = t78*(P[13][0]*t2*t5-P[13][4]*t2*t7+P[13][1]*t2*t15+P[13][6]*t2*t10+P[13][2]*t2*t19-P[13][3]*t2*t22+P[13][5]*t2*t27);
|
||||
A0[14][0] = t78*(P[14][0]*t2*t5-P[14][4]*t2*t7+P[14][1]*t2*t15+P[14][6]*t2*t10+P[14][2]*t2*t19-P[14][3]*t2*t22+P[14][5]*t2*t27);
|
||||
A0[15][0] = t78*(P[15][0]*t2*t5-P[15][4]*t2*t7+P[15][1]*t2*t15+P[15][6]*t2*t10+P[15][2]*t2*t19-P[15][3]*t2*t22+P[15][5]*t2*t27);
|
||||
A0[16][0] = t78*(P[16][0]*t2*t5-P[16][4]*t2*t7+P[16][1]*t2*t15+P[16][6]*t2*t10+P[16][2]*t2*t19-P[16][3]*t2*t22+P[16][5]*t2*t27);
|
||||
A0[17][0] = t78*(P[17][0]*t2*t5-P[17][4]*t2*t7+P[17][1]*t2*t15+P[17][6]*t2*t10+P[17][2]*t2*t19-P[17][3]*t2*t22+P[17][5]*t2*t27);
|
||||
A0[18][0] = t78*(P[18][0]*t2*t5-P[18][4]*t2*t7+P[18][1]*t2*t15+P[18][6]*t2*t10+P[18][2]*t2*t19-P[18][3]*t2*t22+P[18][5]*t2*t27);
|
||||
A0[19][0] = t78*(P[19][0]*t2*t5-P[19][4]*t2*t7+P[19][1]*t2*t15+P[19][6]*t2*t10+P[19][2]*t2*t19-P[19][3]*t2*t22+P[19][5]*t2*t27);
|
||||
A0[20][0] = t78*(P[20][0]*t2*t5-P[20][4]*t2*t7+P[20][1]*t2*t15+P[20][6]*t2*t10+P[20][2]*t2*t19-P[20][3]*t2*t22+P[20][5]*t2*t27);
|
||||
A0[21][0] = t78*(P[21][0]*t2*t5-P[21][4]*t2*t7+P[21][1]*t2*t15+P[21][6]*t2*t10+P[21][2]*t2*t19-P[21][3]*t2*t22+P[21][5]*t2*t27);
|
||||
A0[22][0] = t78*(P[22][0]*t2*t5-P[22][4]*t2*t7+P[22][1]*t2*t15+P[22][6]*t2*t10+P[22][2]*t2*t19-P[22][3]*t2*t22+P[22][5]*t2*t27);
|
||||
A0[23][0] = t78*(P[23][0]*t2*t5-P[23][4]*t2*t7+P[23][1]*t2*t15+P[23][6]*t2*t10+P[23][2]*t2*t19-P[23][3]*t2*t22+P[23][5]*t2*t27);
|
||||
|
|
|
|||
|
|
@ -1,89 +1,117 @@
|
|||
t2 = 1.0/range;
|
||||
t3 = q0*q2*2.0;
|
||||
t4 = q0*q0;
|
||||
t5 = q1*q1;
|
||||
t6 = q2*q2;
|
||||
t7 = q3*q3;
|
||||
t8 = q0*q1*2.0;
|
||||
t9 = q0*q3*2.0;
|
||||
t10 = q1*q2*2.0;
|
||||
t11 = t9+t10;
|
||||
t12 = q1*q3*2.0;
|
||||
t13 = t4-t5-t6+t7;
|
||||
t14 = t13*vd;
|
||||
t15 = q2*q3*2.0;
|
||||
t16 = t3+t12;
|
||||
t17 = t16*vn;
|
||||
t18 = t4-t5+t6-t7;
|
||||
t19 = t18*ve;
|
||||
t20 = t8+t15;
|
||||
t21 = t20*vd;
|
||||
t22 = t9-t10;
|
||||
t28 = t22*vn;
|
||||
t23 = t19+t21-t28;
|
||||
t24 = t4+t5-t6-t7;
|
||||
t25 = t3-t12;
|
||||
t26 = t8-t15;
|
||||
t29 = t26*ve;
|
||||
t27 = t14+t17-t29;
|
||||
t30 = P[4][4]*t2*t11;
|
||||
t31 = P[2][4]*t2*t23;
|
||||
t32 = P[3][4]*t2*t24;
|
||||
t56 = P[5][4]*t2*t25;
|
||||
t57 = P[1][4]*t2*t27;
|
||||
t33 = t30+t31+t32-t56-t57;
|
||||
t34 = t2*t11*t33;
|
||||
t35 = P[4][5]*t2*t11;
|
||||
t36 = P[2][5]*t2*t23;
|
||||
t37 = P[3][5]*t2*t24;
|
||||
t58 = P[5][5]*t2*t25;
|
||||
t59 = P[1][5]*t2*t27;
|
||||
t38 = t35+t36+t37-t58-t59;
|
||||
t39 = P[4][1]*t2*t11;
|
||||
t40 = P[2][1]*t2*t23;
|
||||
t41 = P[3][1]*t2*t24;
|
||||
t55 = P[1][1]*t2*t27;
|
||||
t61 = P[5][1]*t2*t25;
|
||||
t42 = t39+t40+t41-t55-t61;
|
||||
t43 = P[4][2]*t2*t11;
|
||||
t44 = P[2][2]*t2*t23;
|
||||
t45 = P[3][2]*t2*t24;
|
||||
t63 = P[5][2]*t2*t25;
|
||||
t64 = P[1][2]*t2*t27;
|
||||
t46 = t43+t44+t45-t63-t64;
|
||||
t47 = t2*t23*t46;
|
||||
t48 = P[4][3]*t2*t11;
|
||||
t49 = P[2][3]*t2*t23;
|
||||
t50 = P[3][3]*t2*t24;
|
||||
t65 = P[5][3]*t2*t25;
|
||||
t66 = P[1][3]*t2*t27;
|
||||
t51 = t48+t49+t50-t65-t66;
|
||||
t52 = t2*t24*t51;
|
||||
t60 = t2*t25*t38;
|
||||
t62 = t2*t27*t42;
|
||||
t53 = R_LOS+t34+t47+t52-t60-t62;
|
||||
t54 = 1.0/t53;
|
||||
A0[0][0] = -t54*(P[0][4]*t2*t11+P[0][2]*t2*t23+P[0][3]*t2*t24-P[0][1]*t2*t27-P[0][5]*t2*t25);
|
||||
A0[1][0] = -t54*(-t55+P[1][4]*t2*t11+P[1][2]*t2*t23+P[1][3]*t2*t24-P[1][5]*t2*t25);
|
||||
A0[2][0] = -t54*(t44+P[2][4]*t2*t11+P[2][3]*t2*t24-P[2][1]*t2*t27-P[2][5]*t2*t25);
|
||||
A0[3][0] = -t54*(t50+P[3][4]*t2*t11+P[3][2]*t2*t23-P[3][1]*t2*t27-P[3][5]*t2*t25);
|
||||
A0[4][0] = -t54*(t30+P[4][2]*t2*t23+P[4][3]*t2*t24-P[4][1]*t2*t27-P[4][5]*t2*t25);
|
||||
A0[5][0] = -t54*(-t58+P[5][4]*t2*t11+P[5][2]*t2*t23+P[5][3]*t2*t24-P[5][1]*t2*t27);
|
||||
A0[6][0] = -t54*(P[6][4]*t2*t11+P[6][2]*t2*t23+P[6][3]*t2*t24-P[6][1]*t2*t27-P[6][5]*t2*t25);
|
||||
A0[7][0] = -t54*(P[7][4]*t2*t11+P[7][2]*t2*t23+P[7][3]*t2*t24-P[7][1]*t2*t27-P[7][5]*t2*t25);
|
||||
A0[8][0] = -t54*(P[8][4]*t2*t11+P[8][2]*t2*t23+P[8][3]*t2*t24-P[8][1]*t2*t27-P[8][5]*t2*t25);
|
||||
A0[9][0] = -t54*(P[9][4]*t2*t11+P[9][2]*t2*t23+P[9][3]*t2*t24-P[9][1]*t2*t27-P[9][5]*t2*t25);
|
||||
A0[10][0] = -t54*(P[10][4]*t2*t11+P[10][2]*t2*t23+P[10][3]*t2*t24-P[10][1]*t2*t27-P[10][5]*t2*t25);
|
||||
A0[11][0] = -t54*(P[11][4]*t2*t11+P[11][2]*t2*t23+P[11][3]*t2*t24-P[11][1]*t2*t27-P[11][5]*t2*t25);
|
||||
A0[12][0] = -t54*(P[12][4]*t2*t11+P[12][2]*t2*t23+P[12][3]*t2*t24-P[12][1]*t2*t27-P[12][5]*t2*t25);
|
||||
A0[13][0] = -t54*(P[13][4]*t2*t11+P[13][2]*t2*t23+P[13][3]*t2*t24-P[13][1]*t2*t27-P[13][5]*t2*t25);
|
||||
A0[14][0] = -t54*(P[14][4]*t2*t11+P[14][2]*t2*t23+P[14][3]*t2*t24-P[14][1]*t2*t27-P[14][5]*t2*t25);
|
||||
A0[15][0] = -t54*(P[15][4]*t2*t11+P[15][2]*t2*t23+P[15][3]*t2*t24-P[15][1]*t2*t27-P[15][5]*t2*t25);
|
||||
A0[16][0] = -t54*(P[16][4]*t2*t11+P[16][2]*t2*t23+P[16][3]*t2*t24-P[16][1]*t2*t27-P[16][5]*t2*t25);
|
||||
A0[17][0] = -t54*(P[17][4]*t2*t11+P[17][2]*t2*t23+P[17][3]*t2*t24-P[17][1]*t2*t27-P[17][5]*t2*t25);
|
||||
A0[18][0] = -t54*(P[18][4]*t2*t11+P[18][2]*t2*t23+P[18][3]*t2*t24-P[18][1]*t2*t27-P[18][5]*t2*t25);
|
||||
A0[19][0] = -t54*(P[19][4]*t2*t11+P[19][2]*t2*t23+P[19][3]*t2*t24-P[19][1]*t2*t27-P[19][5]*t2*t25);
|
||||
A0[20][0] = -t54*(P[20][4]*t2*t11+P[20][2]*t2*t23+P[20][3]*t2*t24-P[20][1]*t2*t27-P[20][5]*t2*t25);
|
||||
A0[21][0] = -t54*(P[21][4]*t2*t11+P[21][2]*t2*t23+P[21][3]*t2*t24-P[21][1]*t2*t27-P[21][5]*t2*t25);
|
||||
A0[22][0] = -t54*(P[22][4]*t2*t11+P[22][2]*t2*t23+P[22][3]*t2*t24-P[22][1]*t2*t27-P[22][5]*t2*t25);
|
||||
A0[23][0] = -t54*(P[23][4]*t2*t11+P[23][2]*t2*t23+P[23][3]*t2*t24-P[23][1]*t2*t27-P[23][5]*t2*t25);
|
||||
t3 = q3*ve*2.0;
|
||||
t4 = q0*vn*2.0;
|
||||
t11 = q2*vd*2.0;
|
||||
t5 = t3+t4-t11;
|
||||
t6 = q0*q3*2.0;
|
||||
t7 = q1*q2*2.0;
|
||||
t8 = t6+t7;
|
||||
t9 = q0*q2*2.0;
|
||||
t28 = q1*q3*2.0;
|
||||
t10 = t9-t28;
|
||||
t12 = P[0][0]*t2*t5;
|
||||
t13 = q3*vd*2.0;
|
||||
t14 = q2*ve*2.0;
|
||||
t15 = q1*vn*2.0;
|
||||
t16 = t13+t14+t15;
|
||||
t17 = q0*vd*2.0;
|
||||
t18 = q2*vn*2.0;
|
||||
t29 = q1*ve*2.0;
|
||||
t19 = t17+t18-t29;
|
||||
t20 = q1*vd*2.0;
|
||||
t21 = q0*ve*2.0;
|
||||
t30 = q3*vn*2.0;
|
||||
t22 = t20+t21-t30;
|
||||
t23 = q0*q0;
|
||||
t24 = q1*q1;
|
||||
t25 = q2*q2;
|
||||
t26 = q3*q3;
|
||||
t27 = t23+t24-t25-t26;
|
||||
t31 = P[1][1]*t2*t16;
|
||||
t32 = P[5][0]*t2*t8;
|
||||
t33 = P[1][0]*t2*t16;
|
||||
t34 = P[3][0]*t2*t22;
|
||||
t35 = P[4][0]*t2*t27;
|
||||
t80 = P[6][0]*t2*t10;
|
||||
t81 = P[2][0]*t2*t19;
|
||||
t36 = t12+t32+t33+t34+t35-t80-t81;
|
||||
t37 = t2*t5*t36;
|
||||
t38 = P[5][1]*t2*t8;
|
||||
t39 = P[0][1]*t2*t5;
|
||||
t40 = P[3][1]*t2*t22;
|
||||
t41 = P[4][1]*t2*t27;
|
||||
t82 = P[6][1]*t2*t10;
|
||||
t83 = P[2][1]*t2*t19;
|
||||
t42 = t31+t38+t39+t40+t41-t82-t83;
|
||||
t43 = t2*t16*t42;
|
||||
t44 = P[5][2]*t2*t8;
|
||||
t45 = P[0][2]*t2*t5;
|
||||
t46 = P[1][2]*t2*t16;
|
||||
t47 = P[3][2]*t2*t22;
|
||||
t48 = P[4][2]*t2*t27;
|
||||
t79 = P[2][2]*t2*t19;
|
||||
t84 = P[6][2]*t2*t10;
|
||||
t49 = t44+t45+t46+t47+t48-t79-t84;
|
||||
t50 = P[5][3]*t2*t8;
|
||||
t51 = P[0][3]*t2*t5;
|
||||
t52 = P[1][3]*t2*t16;
|
||||
t53 = P[3][3]*t2*t22;
|
||||
t54 = P[4][3]*t2*t27;
|
||||
t86 = P[6][3]*t2*t10;
|
||||
t87 = P[2][3]*t2*t19;
|
||||
t55 = t50+t51+t52+t53+t54-t86-t87;
|
||||
t56 = t2*t22*t55;
|
||||
t57 = P[5][4]*t2*t8;
|
||||
t58 = P[0][4]*t2*t5;
|
||||
t59 = P[1][4]*t2*t16;
|
||||
t60 = P[3][4]*t2*t22;
|
||||
t61 = P[4][4]*t2*t27;
|
||||
t88 = P[6][4]*t2*t10;
|
||||
t89 = P[2][4]*t2*t19;
|
||||
t62 = t57+t58+t59+t60+t61-t88-t89;
|
||||
t63 = t2*t27*t62;
|
||||
t64 = P[5][5]*t2*t8;
|
||||
t65 = P[0][5]*t2*t5;
|
||||
t66 = P[1][5]*t2*t16;
|
||||
t67 = P[3][5]*t2*t22;
|
||||
t68 = P[4][5]*t2*t27;
|
||||
t90 = P[6][5]*t2*t10;
|
||||
t91 = P[2][5]*t2*t19;
|
||||
t69 = t64+t65+t66+t67+t68-t90-t91;
|
||||
t70 = t2*t8*t69;
|
||||
t71 = P[5][6]*t2*t8;
|
||||
t72 = P[0][6]*t2*t5;
|
||||
t73 = P[1][6]*t2*t16;
|
||||
t74 = P[3][6]*t2*t22;
|
||||
t75 = P[4][6]*t2*t27;
|
||||
t92 = P[6][6]*t2*t10;
|
||||
t93 = P[2][6]*t2*t19;
|
||||
t76 = t71+t72+t73+t74+t75-t92-t93;
|
||||
t85 = t2*t19*t49;
|
||||
t94 = t2*t10*t76;
|
||||
t77 = R_LOS+t37+t43+t56+t63+t70-t85-t94;
|
||||
t78 = 1.0/t77;
|
||||
A0[0][0] = -t78*(t12+P[0][5]*t2*t8-P[0][6]*t2*t10+P[0][1]*t2*t16-P[0][2]*t2*t19+P[0][3]*t2*t22+P[0][4]*t2*t27);
|
||||
A0[1][0] = -t78*(t31+P[1][0]*t2*t5+P[1][5]*t2*t8-P[1][6]*t2*t10-P[1][2]*t2*t19+P[1][3]*t2*t22+P[1][4]*t2*t27);
|
||||
A0[2][0] = -t78*(-t79+P[2][0]*t2*t5+P[2][5]*t2*t8-P[2][6]*t2*t10+P[2][1]*t2*t16+P[2][3]*t2*t22+P[2][4]*t2*t27);
|
||||
A0[3][0] = -t78*(t53+P[3][0]*t2*t5+P[3][5]*t2*t8-P[3][6]*t2*t10+P[3][1]*t2*t16-P[3][2]*t2*t19+P[3][4]*t2*t27);
|
||||
A0[4][0] = -t78*(t61+P[4][0]*t2*t5+P[4][5]*t2*t8-P[4][6]*t2*t10+P[4][1]*t2*t16-P[4][2]*t2*t19+P[4][3]*t2*t22);
|
||||
A0[5][0] = -t78*(t64+P[5][0]*t2*t5-P[5][6]*t2*t10+P[5][1]*t2*t16-P[5][2]*t2*t19+P[5][3]*t2*t22+P[5][4]*t2*t27);
|
||||
A0[6][0] = -t78*(-t92+P[6][0]*t2*t5+P[6][5]*t2*t8+P[6][1]*t2*t16-P[6][2]*t2*t19+P[6][3]*t2*t22+P[6][4]*t2*t27);
|
||||
A0[7][0] = -t78*(P[7][0]*t2*t5+P[7][5]*t2*t8-P[7][6]*t2*t10+P[7][1]*t2*t16-P[7][2]*t2*t19+P[7][3]*t2*t22+P[7][4]*t2*t27);
|
||||
A0[8][0] = -t78*(P[8][0]*t2*t5+P[8][5]*t2*t8-P[8][6]*t2*t10+P[8][1]*t2*t16-P[8][2]*t2*t19+P[8][3]*t2*t22+P[8][4]*t2*t27);
|
||||
A0[9][0] = -t78*(P[9][0]*t2*t5+P[9][5]*t2*t8-P[9][6]*t2*t10+P[9][1]*t2*t16-P[9][2]*t2*t19+P[9][3]*t2*t22+P[9][4]*t2*t27);
|
||||
A0[10][0] = -t78*(P[10][0]*t2*t5+P[10][5]*t2*t8-P[10][6]*t2*t10+P[10][1]*t2*t16-P[10][2]*t2*t19+P[10][3]*t2*t22+P[10][4]*t2*t27);
|
||||
A0[11][0] = -t78*(P[11][0]*t2*t5+P[11][5]*t2*t8-P[11][6]*t2*t10+P[11][1]*t2*t16-P[11][2]*t2*t19+P[11][3]*t2*t22+P[11][4]*t2*t27);
|
||||
A0[12][0] = -t78*(P[12][0]*t2*t5+P[12][5]*t2*t8-P[12][6]*t2*t10+P[12][1]*t2*t16-P[12][2]*t2*t19+P[12][3]*t2*t22+P[12][4]*t2*t27);
|
||||
A0[13][0] = -t78*(P[13][0]*t2*t5+P[13][5]*t2*t8-P[13][6]*t2*t10+P[13][1]*t2*t16-P[13][2]*t2*t19+P[13][3]*t2*t22+P[13][4]*t2*t27);
|
||||
A0[14][0] = -t78*(P[14][0]*t2*t5+P[14][5]*t2*t8-P[14][6]*t2*t10+P[14][1]*t2*t16-P[14][2]*t2*t19+P[14][3]*t2*t22+P[14][4]*t2*t27);
|
||||
A0[15][0] = -t78*(P[15][0]*t2*t5+P[15][5]*t2*t8-P[15][6]*t2*t10+P[15][1]*t2*t16-P[15][2]*t2*t19+P[15][3]*t2*t22+P[15][4]*t2*t27);
|
||||
A0[16][0] = -t78*(P[16][0]*t2*t5+P[16][5]*t2*t8-P[16][6]*t2*t10+P[16][1]*t2*t16-P[16][2]*t2*t19+P[16][3]*t2*t22+P[16][4]*t2*t27);
|
||||
A0[17][0] = -t78*(P[17][0]*t2*t5+P[17][5]*t2*t8-P[17][6]*t2*t10+P[17][1]*t2*t16-P[17][2]*t2*t19+P[17][3]*t2*t22+P[17][4]*t2*t27);
|
||||
A0[18][0] = -t78*(P[18][0]*t2*t5+P[18][5]*t2*t8-P[18][6]*t2*t10+P[18][1]*t2*t16-P[18][2]*t2*t19+P[18][3]*t2*t22+P[18][4]*t2*t27);
|
||||
A0[19][0] = -t78*(P[19][0]*t2*t5+P[19][5]*t2*t8-P[19][6]*t2*t10+P[19][1]*t2*t16-P[19][2]*t2*t19+P[19][3]*t2*t22+P[19][4]*t2*t27);
|
||||
A0[20][0] = -t78*(P[20][0]*t2*t5+P[20][5]*t2*t8-P[20][6]*t2*t10+P[20][1]*t2*t16-P[20][2]*t2*t19+P[20][3]*t2*t22+P[20][4]*t2*t27);
|
||||
A0[21][0] = -t78*(P[21][0]*t2*t5+P[21][5]*t2*t8-P[21][6]*t2*t10+P[21][1]*t2*t16-P[21][2]*t2*t19+P[21][3]*t2*t22+P[21][4]*t2*t27);
|
||||
A0[22][0] = -t78*(P[22][0]*t2*t5+P[22][5]*t2*t8-P[22][6]*t2*t10+P[22][1]*t2*t16-P[22][2]*t2*t19+P[22][3]*t2*t22+P[22][4]*t2*t27);
|
||||
A0[23][0] = -t78*(P[23][0]*t2*t5+P[23][5]*t2*t8-P[23][6]*t2*t10+P[23][1]*t2*t16-P[23][2]*t2*t19+P[23][3]*t2*t22+P[23][4]*t2*t27);
|
||||
|
|
|
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|
@ -1,16 +1,17 @@
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t2 = q0*q0;
|
||||
t3 = q1*q1;
|
||||
t4 = q2*q2;
|
||||
t5 = q3*q3;
|
||||
t6 = t2-t3+t4-t5;
|
||||
t7 = q0*q3*2.0;
|
||||
t10 = q1*q2*2.0;
|
||||
t8 = t7-t10;
|
||||
t9 = 1.0/(t6*t6);
|
||||
t11 = t8*t8;
|
||||
t12 = t9*t11;
|
||||
t9 = q0*q3;
|
||||
t10 = q1*q2;
|
||||
t2 = t9-t10;
|
||||
t3 = q0*q0;
|
||||
t4 = q1*q1;
|
||||
t5 = q2*q2;
|
||||
t6 = q3*q3;
|
||||
t7 = t3-t4+t5-t6;
|
||||
t8 = 1.0/(t7*t7);
|
||||
t11 = t2*t2;
|
||||
t12 = t8*t11*4.0;
|
||||
t13 = t12+1.0;
|
||||
t14 = 1.0/t13;
|
||||
t15 = 1.0/t6;
|
||||
A0[0][0] = -t14*(t15*(q0*q2*2.0+q1*q3*2.0)-t8*t9*(q0*q1*2.0-q2*q3*2.0));
|
||||
A0[0][2] = t14*(t15*(t2+t3-t4-t5)+t8*t9*(t7+t10));
|
||||
A0[0][0] = t8*t14*(q3*t3+q3*t4-q3*t5+q3*t6-q0*q1*q2*2.0)*-2.0;
|
||||
A0[0][1] = t8*t14*(q2*t3+q2*t4+q2*t5-q2*t6-q0*q1*q3*2.0)*-2.0;
|
||||
A0[0][2] = t8*t14*(-q1*t3+q1*t4+q1*t5+q1*t6-q0*q2*q3*2.0)*2.0;
|
||||
A0[0][3] = t8*t14*(q0*t3-q0*t4+q0*t5+q0*t6-q1*q2*q3*2.0)*2.0;
|
||||
|
|
|
|||
|
|
@ -1,16 +1,17 @@
|
|||
t2 = q0*q0;
|
||||
t3 = q1*q1;
|
||||
t4 = q2*q2;
|
||||
t5 = q3*q3;
|
||||
t6 = t2+t3-t4-t5;
|
||||
t7 = q0*q3*2.0;
|
||||
t8 = q1*q2*2.0;
|
||||
t9 = t7+t8;
|
||||
t10 = 1.0/(t6*t6);
|
||||
t11 = t9*t9;
|
||||
t12 = t10*t11;
|
||||
t9 = q0*q3;
|
||||
t10 = q1*q2;
|
||||
t2 = t9+t10;
|
||||
t3 = q0*q0;
|
||||
t4 = q1*q1;
|
||||
t5 = q2*q2;
|
||||
t6 = q3*q3;
|
||||
t7 = t3+t4-t5-t6;
|
||||
t8 = 1.0/(t7*t7);
|
||||
t11 = t2*t2;
|
||||
t12 = t8*t11*4.0;
|
||||
t13 = t12+1.0;
|
||||
t14 = 1.0/t13;
|
||||
t15 = 1.0/t6;
|
||||
A0[0][1] = t14*(t15*(q0*q1*2.0-q2*q3*2.0)+t9*t10*(q0*q2*2.0+q1*q3*2.0));
|
||||
A0[0][2] = t14*(t15*(t2-t3+t4-t5)+t9*t10*(t7-t8));
|
||||
A0[0][0] = t8*t14*(q3*t3-q3*t4+q3*t5+q3*t6+q0*q1*q2*2.0)*-2.0;
|
||||
A0[0][1] = t8*t14*(-q2*t3+q2*t4+q2*t5+q2*t6+q0*q1*q3*2.0)*-2.0;
|
||||
A0[0][2] = t8*t14*(q1*t3+q1*t4+q1*t5-q1*t6+q0*q2*q3*2.0)*2.0;
|
||||
A0[0][3] = t8*t14*(q0*t3+q0*t4-q0*t5+q0*t6+q1*q2*q3*2.0)*2.0;
|
||||
|
|
|
|||
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Reference in New Issue