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Merge pull request #1009 from PX4/inav_fix 

position_estimator_inav: stability fix
This commit is contained in:
Lorenz Meier 2014-05-29 01:34:27 -07:00
parent 9ecdb14505 9a49636f6a
commit 83edab4d59
5 changed files with 38 additions and 57 deletions
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15
src/modules/position_estimator_inav/inertial_filter.c
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@ -9,15 +9,18 @@
#include "inertial_filter.h"
void inertial_filter_predict(float dt, float x[3])
void inertial_filter_predict(float dt, float x[2], float acc)
{
if (isfinite(dt)) {
x[0] += x[1] * dt + x[2] * dt * dt / 2.0f;
x[1] += x[2] * dt;
if (!isfinite(acc)) {
acc = 0.0f;
}
x[0] += x[1] * dt + acc * dt * dt / 2.0f;
x[1] += acc * dt;
}
}
void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
void inertial_filter_correct(float e, float dt, float x[2], int i, float w)
{
if (isfinite(e) && isfinite(w) && isfinite(dt)) {
float ewdt = e * w * dt;
@ -25,10 +28,6 @@ void inertial_filter_correct(float e, float dt, float x[3], int i, float w)
if (i == 0) {
x[1] += w * ewdt;
x[2] += w * w * ewdt / 3.0;
} else if (i == 1) {
x[2] += w * ewdt;
}
}
}

2
src/modules/position_estimator_inav/inertial_filter.h
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@ -8,6 +8,6 @@
#include <stdbool.h>
#include <drivers/drv_hrt.h>
void inertial_filter_predict(float dt, float x[3]);
void inertial_filter_predict(float dt, float x[3], float acc);
void inertial_filter_correct(float e, float dt, float x[3], int i, float w);

68
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -168,15 +168,15 @@ int position_estimator_inav_main(int argc, char *argv[])
exit(1);
}
void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float x_est_prev[3], float y_est_prev[3], float z_est_prev[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
{
FILE *f = fopen("/fs/microsd/inav.log", "a");
if (f) {
char *s = malloc(256);
unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f] x_est_prev=[%.5f %.5f %.5f] y_est_prev=[%.5f %.5f %.5f] z_est_prev=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2], x_est_prev[0], x_est_prev[1], x_est_prev[2], y_est_prev[0], y_est_prev[1], y_est_prev[2], z_est_prev[0], z_est_prev[1], z_est_prev[2]);
unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], y_est[0], y_est[1], z_est[0], z_est[1], x_est_prev[0], x_est_prev[1], y_est_prev[0], y_est_prev[1], z_est_prev[0], z_est_prev[1]);
fwrite(s, 1, n, f);
n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", acc[0], acc[1], acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
fwrite(s, 1, n, f);
free(s);
}
@ -195,14 +195,14 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[inav] started");
float x_est[3] = { 0.0f, 0.0f, 0.0f };
float y_est[3] = { 0.0f, 0.0f, 0.0f };
float z_est[3] = { 0.0f, 0.0f, 0.0f };
float x_est[2] = { 0.0f, 0.0f }; // pos, vel
float y_est[2] = { 0.0f, 0.0f }; // pos, vel
float z_est[2] = { 0.0f, 0.0f }; // pos, vel
float eph = 1.0;
float epv = 1.0;
float x_est_prev[3], y_est_prev[3], z_est_prev[3];
float x_est_prev[2], y_est_prev[2], z_est_prev[2];
memset(x_est_prev, 0, sizeof(x_est_prev));
memset(y_est_prev, 0, sizeof(y_est_prev));
memset(z_est_prev, 0, sizeof(z_est_prev));
@ -241,7 +241,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
float corr_acc[] = { 0.0f, 0.0f, 0.0f }; // N E D
float acc[] = { 0.0f, 0.0f, 0.0f }; // N E D
float acc_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame
float corr_baro = 0.0f; // D
float corr_gps[3][2] = {
@ -341,8 +341,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* mean calculation over several measurements */
if (baro_init_cnt < baro_init_num) {
baro_offset += sensor.baro_alt_meter;
baro_init_cnt++;
if (isfinite(sensor.baro_alt_meter)) {
baro_offset += sensor.baro_alt_meter;
baro_init_cnt++;
}
} else {
wait_baro = false;
@ -418,19 +420,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* transform acceleration vector from body frame to NED frame */
for (int i = 0; i < 3; i++) {
accel_NED[i] = 0.0f;
acc[i] = 0.0f;
for (int j = 0; j < 3; j++) {
accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
acc[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
}
}
corr_acc[0] = accel_NED[0] - x_est[2];
corr_acc[1] = accel_NED[1] - y_est[2];
corr_acc[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2];
acc[2] += CONSTANTS_ONE_G;
} else {
memset(corr_acc, 0, sizeof(corr_acc));
memset(acc, 0, sizeof(acc));
}
accel_timestamp = sensor.accelerometer_timestamp;
@ -628,11 +628,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* set position estimate to (0, 0, 0), use GPS velocity for XY */
x_est[0] = 0.0f;
x_est[1] = gps.vel_n_m_s;
x_est[2] = accel_NED[0];
y_est[0] = 0.0f;
y_est[1] = gps.vel_e_m_s;
z_est[0] = 0.0f;
y_est[2] = accel_NED[1];
local_pos.ref_lat = lat;
local_pos.ref_lon = lon;
@ -655,10 +653,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (reset_est) {
x_est[0] = gps_proj[0];
x_est[1] = gps.vel_n_m_s;
x_est[2] = accel_NED[0];
y_est[0] = gps_proj[1];
y_est[1] = gps.vel_e_m_s;
y_est[2] = accel_NED[1];
}
/* calculate correction for position */
@ -796,26 +792,26 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
c += att.R[j][i] * accel_bias_corr[j];
}
acc_bias[i] += c * params.w_acc_bias * dt;
if (isfinite(c)) {
acc_bias[i] += c * params.w_acc_bias * dt;
}
}
/* inertial filter prediction for altitude */
inertial_filter_predict(dt, z_est);
inertial_filter_predict(dt, z_est, acc[2]);
if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) {
write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(z_est, z_est_prev, sizeof(z_est));
}
/* inertial filter correction for altitude */
inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro);
inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc);
if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) {
write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(z_est, z_est_prev, sizeof(z_est));
memset(corr_acc, 0, sizeof(corr_acc));
memset(corr_gps, 0, sizeof(corr_gps));
corr_baro = 0;
@ -825,19 +821,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (can_estimate_xy) {
/* inertial filter prediction for position */
inertial_filter_predict(dt, x_est);
inertial_filter_predict(dt, y_est);
inertial_filter_predict(dt, x_est, acc[0]);
inertial_filter_predict(dt, y_est, acc[1]);
if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) {
write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(x_est, x_est_prev, sizeof(x_est));
memcpy(y_est, y_est_prev, sizeof(y_est));
}
/* inertial filter correction for position */
inertial_filter_correct(corr_acc[0], dt, x_est, 2, params.w_xy_acc);
inertial_filter_correct(corr_acc[1], dt, y_est, 2, params.w_xy_acc);
if (use_flow) {
inertial_filter_correct(corr_flow[0], dt, x_est, 1, params.w_xy_flow * w_flow);
inertial_filter_correct(corr_flow[1], dt, y_est, 1, params.w_xy_flow * w_flow);
@ -853,11 +846,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) {
write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(x_est, x_est_prev, sizeof(x_est));
memcpy(y_est, y_est_prev, sizeof(y_est));
memset(corr_acc, 0, sizeof(corr_acc));
memset(corr_gps, 0, sizeof(corr_gps));
memset(corr_flow, 0, sizeof(corr_flow));

6
src/modules/position_estimator_inav/position_estimator_inav_params.c
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@ -42,11 +42,9 @@
PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
@ -62,11 +60,9 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");
h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
h->w_z_acc = param_find("INAV_W_Z_ACC");
h->w_z_sonar = param_find("INAV_W_Z_SONAR");
h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
h->w_xy_acc = param_find("INAV_W_XY_ACC");
h->w_xy_flow = param_find("INAV_W_XY_FLOW");
h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
h->w_acc_bias = param_find("INAV_W_ACC_BIAS");
@ -85,11 +81,9 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
{
param_get(h->w_z_baro, &(p->w_z_baro));
param_get(h->w_z_gps_p, &(p->w_z_gps_p));
param_get(h->w_z_acc, &(p->w_z_acc));
param_get(h->w_z_sonar, &(p->w_z_sonar));
param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
param_get(h->w_xy_acc, &(p->w_xy_acc));
param_get(h->w_xy_flow, &(p->w_xy_flow));
param_get(h->w_gps_flow, &(p->w_gps_flow));
param_get(h->w_acc_bias, &(p->w_acc_bias));

4
src/modules/position_estimator_inav/position_estimator_inav_params.h
View File

@ -43,11 +43,9 @@
struct position_estimator_inav_params {
float w_z_baro;
float w_z_gps_p;
float w_z_acc;
float w_z_sonar;
float w_xy_gps_p;
float w_xy_gps_v;
float w_xy_acc;
float w_xy_flow;
float w_gps_flow;
float w_acc_bias;
@ -63,11 +61,9 @@ struct position_estimator_inav_params {
struct position_estimator_inav_param_handles {
param_t w_z_baro;
param_t w_z_gps_p;
param_t w_z_acc;
param_t w_z_sonar;
param_t w_xy_gps_p;
param_t w_xy_gps_v;
param_t w_xy_acc;
param_t w_xy_flow;
param_t w_gps_flow;
param_t w_acc_bias;