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ekf2: use Joseph stabilized covariance update

This commit is contained in:
bresch 2024-02-16 15:34:35 +01:00 committed by Daniel Agar
parent d988005216
commit 9d9766c6cf
13 changed files with 301 additions and 281 deletions
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5
src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.cpp
View File

@ -75,7 +75,10 @@ bool ZeroGyroUpdate::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
K(row) = ekf.stateCovariance(row, state_index) / innov_var(i);
}
ekf.measurementUpdate(K, innov_var(i), innovation(i));
Ekf::VectorState H{};
H(State::gyro_bias.idx + i) = 1.f;
ekf.measurementUpdate(K, H, obs_var, innovation(i), innov_var(i));
}
// Reset the integrators

2
src/modules/ekf2/EKF/airspeed_fusion.cpp
View File

@ -208,7 +208,7 @@ void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_sour
K.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) = K_wind;
}
const bool is_fused = measurementUpdate(K, aid_src.innovation_variance, aid_src.innovation);
const bool is_fused = measurementUpdate(K, H, aid_src.observation_variance, aid_src.innovation);
aid_src.fused = is_fused;
_fault_status.flags.bad_airspeed = !is_fused;

24
src/modules/ekf2/EKF/covariance.cpp
View File

@ -222,14 +222,6 @@ void Ekf::constrainStateVariances()
#endif // CONFIG_EKF2_WIND
}
void Ekf::forceCovarianceSymmetry()
{
// DEBUG
// P.isBlockSymmetric(0, 1e-9f);
P.makeRowColSymmetric<State::size>(0);
}
void Ekf::constrainStateVar(const IdxDof &state, float min, float max)
{
for (unsigned i = state.idx; i < (state.idx + state.dof); i++) {
@ -256,22 +248,6 @@ void Ekf::constrainStateVarLimitRatio(const IdxDof &state, float min, float 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)
{
bool healthy = true;
for (int i = 0; i < State::size; i++) {
if (P(i, i) < KHP(i, i)) {
P.uncorrelateCovarianceSetVariance<1>(i, 0.f);
healthy = false;
}
}
return healthy;
}
void Ekf::resetQuatCov(const float yaw_noise)
{
const float tilt_var = sq(math::max(_params.initial_tilt_err, 0.01f));

2
src/modules/ekf2/EKF/drag_fusion.cpp
View File

@ -160,7 +160,7 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
VectorState K = P * H / _aid_src_drag.innovation_variance[axis_index];
if (measurementUpdate(K, _aid_src_drag.innovation_variance[axis_index], _aid_src_drag.innovation[axis_index])) {
if (measurementUpdate(K, H, R_ACC, _aid_src_drag.innovation[axis_index])) {
fused[axis_index] = true;
}
}

48
src/modules/ekf2/EKF/ekf.h
View File

@ -468,35 +468,39 @@ public:
const auto &aid_src_aux_vel() const { return _aid_src_aux_vel; }
#endif // CONFIG_EKF2_AUXVEL
bool measurementUpdate(VectorState &K, float innovation_variance, float innovation)
bool measurementUpdate(VectorState &K, const VectorState &H, const float R, const float innovation)
{
clearInhibitedStateKalmanGains(K);
const VectorState KS = K * innovation_variance;
SquareMatrixState KHP;
// Efficient implementation of the Joseph stabilized covariance update
// Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006"
for (unsigned row = 0; row < State::size; row++) {
for (unsigned col = 0; col < State::size; col++) {
// Instead of literally computing KHP, use an equivalent
// equation involving less mathematical operations
KHP(row, col) = KS(row) * K(col);
// Step 1: conventional update
VectorState PH = P * H;
for (unsigned i = 0; i < State::size; i++) {
for (unsigned j = 0; j <= i; j++) {
P(i, j) = P(i, j) - K(i) * PH(j);
P(j, i) = P(i, j);
}
}
const bool is_healthy = checkAndFixCovarianceUpdate(KHP);
// Step 2: stabilized update
PH = P * H;
if (is_healthy) {
// apply the covariance corrections
P -= KHP;
constrainStateVariances();
forceCovarianceSymmetry();
// apply the state corrections
fuse(K, innovation);
for (unsigned i = 0; i < State::size; i++) {
for (unsigned j = 0; j <= i; j++) {
float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i));
P(i, j) = s + K(i) * R * K(j);
P(j, i) = P(i, j);
}
}
return is_healthy;
constrainStateVariances();
// apply the state corrections
fuse(K, innovation);
return true;
}
void resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation);
@ -942,15 +946,9 @@ private:
#endif // CONFIG_EKF2_WIND
}
// if the covariance correction will result in a negative variance, then
// the covariance matrix is unhealthy and must be corrected
bool checkAndFixCovarianceUpdate(const SquareMatrixState &KHP);
// limit the diagonal of the covariance matrix
void constrainStateVariances();
void forceCovarianceSymmetry();
void constrainStateVar(const IdxDof &state, float min, float max);
void constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio = 1.e6f);

2
src/modules/ekf2/EKF/gps_yaw_fusion.cpp
View File

@ -134,7 +134,7 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset)
// only calculate gains for states we are using
VectorState Kfusion = P * H / gnss_yaw.innovation_variance;
const bool is_fused = measurementUpdate(Kfusion, gnss_yaw.innovation_variance, gnss_yaw.innovation);
const bool is_fused = measurementUpdate(Kfusion, H, gnss_yaw.observation_variance, gnss_yaw.innovation);
_fault_status.flags.bad_hdg = !is_fused;
gnss_yaw.fused = is_fused;

2
src/modules/ekf2/EKF/gravity_fusion.cpp
View File

@ -111,7 +111,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];
if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) {
fused[index] = measurementUpdate(K, _aid_src_gravity.innovation_variance[index], _aid_src_gravity.innovation[index]);
fused[index] = measurementUpdate(K, H, _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
}
}

4
src/modules/ekf2/EKF/mag_fusion.cpp
View File

@ -191,7 +191,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
Kfusion.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) = K_mag_B;
}
if (measurementUpdate(Kfusion, aid_src_mag.innovation_variance[index], aid_src_mag.innovation[index])) {
if (measurementUpdate(Kfusion, H, aid_src_mag.observation_variance[index], aid_src_mag.innovation[index])) {
fused[index] = true;
limitDeclination();
@ -261,7 +261,7 @@ bool Ekf::fuseDeclination(float decl_sigma)
// Calculate the Kalman gains
VectorState Kfusion = P * H / innovation_variance;
const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation);
const bool is_fused = measurementUpdate(Kfusion, H, R_DECL, innovation);
_fault_status.flags.bad_mag_decl = !is_fused;

2
src/modules/ekf2/EKF/optflow_fusion.cpp
View File

@ -146,7 +146,7 @@ void Ekf::fuseOptFlow()
VectorState Kfusion = P * H / _aid_src_optical_flow.innovation_variance[index];
if (measurementUpdate(Kfusion, _aid_src_optical_flow.innovation_variance[index], _aid_src_optical_flow.innovation[index])) {
if (measurementUpdate(Kfusion, H, _aid_src_optical_flow.observation_variance[index], _aid_src_optical_flow.innovation[index])) {
fused[index] = true;
}
}

2
src/modules/ekf2/EKF/sideslip_fusion.cpp
View File

@ -142,7 +142,7 @@ void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip)
K.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) = K_wind;
}
const bool is_fused = measurementUpdate(K, sideslip.innovation_variance, sideslip.innovation);
const bool is_fused = measurementUpdate(K, H, sideslip.observation_variance, sideslip.innovation);
sideslip.fused = is_fused;
_fault_status.flags.bad_sideslip = !is_fused;

2
src/modules/ekf2/EKF/yaw_fusion.cpp
View File

@ -113,7 +113,7 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
_innov_check_fail_status.flags.reject_yaw = false;
}
if (measurementUpdate(Kfusion, aid_src_status.innovation_variance, aid_src_status.innovation)) {
if (measurementUpdate(Kfusion, H_YAW, aid_src_status.observation_variance, aid_src_status.innovation)) {
_time_last_heading_fuse = _time_delayed_us;

444
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

@ -52,20 +52,20 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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5390000,1,-0.0087,-0.011,0.00074,0.0075,0.011,-0.065,0.0046,0.0023,-0.067,-0.002,-0.0053,5.2e-05,0,0,-0.11,0,0,0,0,0,0,0,0,0.0032,0.0032,0.00014,0.36,0.36,0.057,0.15,0.16,0.079,0.00035,0.00035,9.2e-06,0.04,0.04,0.0078,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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5890000,1,-0.0088,-0.011,0.00053,0.0092,0.016,-0.048,0.0027,0.0039,-0.056,-0.0019,-0.0055,4.6e-05,0,0,-0.12,0,0,0,0,0,0,0,0,0.0021,0.0021,0.00012,0.23,0.23,0.048,0.1,0.1,0.075,0.00018,0.00018,6.9e-06,0.04,0.04,0.0054,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
5590000,1,-0.0088,-0.011,0.00066,0.0082,0.016,-0.053,0.004,0.0036,-0.058,-0.002,-0.0054,5e-05,0,0,-0.12,0,0,0,0,0,0,0,0,0.0028,0.0028,0.00013,0.32,0.33,0.053,0.15,0.15,0.078,0.00028,0.00028,8.3e-06,0.04,0.04,0.0067,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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@ -79,18 +79,18 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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18890000,-0.29,0.011,-0.0059,0.96,0.0026,0.0093,0.023,0.005,0.0052,0.025,-0.0013,-0.0061,2.4e-05,0.005,0.0043,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0005,0.0005,0.019,0.033,0.033,0.0081,0.054,0.054,0.035,4.7e-06,4.7e-06,4.6e-06,0.032,0.032,0.00032,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
18590000,-0.29,0.011,-0.006,0.96,-0.0014,0.011,0.027,0.0044,0.0043,0.033,-0.0013,-0.0061,2.5e-05,0.0043,0.0046,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00051,0.00051,0.019,0.031,0.031,0.0081,0.05,0.05,0.034,5.1e-06,5.1e-06,4.6e-06,0.032,0.032,0.00034,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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18790000,-0.29,0.011,-0.0059,0.96,0.00091,0.0092,0.025,0.0048,0.0042,0.029,-0.0014,-0.0061,2.5e-05,0.0047,0.0045,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0005,0.0005,0.019,0.03,0.03,0.0081,0.048,0.048,0.034,4.7e-06,4.7e-06,4.6e-06,0.032,0.032,0.00033,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
18890000,-0.29,0.011,-0.0059,0.96,0.0026,0.0093,0.023,0.005,0.0052,0.025,-0.0013,-0.0061,2.5e-05,0.005,0.0043,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0005,0.0005,0.019,0.033,0.033,0.0081,0.054,0.054,0.035,4.7e-06,4.7e-06,4.6e-06,0.032,0.032,0.00032,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
18990000,-0.29,0.011,-0.0058,0.96,0.0023,0.009,0.024,0.004,0.004,0.029,-0.0014,-0.0061,2.5e-05,0.0052,0.0044,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.03,0.03,0.008,0.047,0.047,0.034,4.3e-06,4.3e-06,4.6e-06,0.031,0.031,0.00032,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19090000,-0.29,0.011,-0.0059,0.96,0.0044,0.01,0.025,0.0043,0.0049,0.025,-0.0014,-0.0061,2.4e-05,0.0054,0.0042,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.033,0.033,0.0081,0.053,0.053,0.035,4.3e-06,4.3e-06,4.6e-06,0.031,0.031,0.00031,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19090000,-0.29,0.011,-0.0059,0.96,0.0044,0.01,0.025,0.0043,0.0049,0.025,-0.0014,-0.0061,2.5e-05,0.0054,0.0042,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.033,0.033,0.0081,0.053,0.053,0.035,4.3e-06,4.3e-06,4.6e-06,0.031,0.031,0.00031,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19190000,-0.29,0.011,-0.0058,0.96,0.0044,0.0094,0.024,0.0034,0.004,0.024,-0.0014,-0.0061,2.5e-05,0.0058,0.0042,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.029,0.029,0.008,0.046,0.046,0.035,3.9e-06,3.9e-06,4.6e-06,0.031,0.031,0.00031,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19290000,-0.29,0.011,-0.0057,0.96,0.0054,0.0095,0.025,0.0039,0.0049,0.023,-0.0014,-0.0061,2.5e-05,0.0059,0.0041,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.032,0.032,0.008,0.052,0.052,0.035,3.9e-06,3.9e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19390000,-0.29,0.011,-0.0059,0.96,0.005,0.008,0.026,0.003,0.005,0.022,-0.0014,-0.0061,2.4e-05,0.0062,0.0039,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.028,0.029,0.0079,0.045,0.045,0.035,3.5e-06,3.5e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19490000,-0.29,0.011,-0.0059,0.96,0.0059,0.0083,0.025,0.0036,0.0058,0.022,-0.0014,-0.0061,2.4e-05,0.0063,0.0038,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.031,0.031,0.0079,0.051,0.051,0.035,3.5e-06,3.5e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19590000,-0.29,0.011,-0.0058,0.96,0.0078,0.0084,0.027,0.0041,0.0036,0.022,-0.0014,-0.0061,2.5e-05,0.0066,0.004,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.0078,0.045,0.045,0.035,3.2e-06,3.2e-06,4.6e-06,0.031,0.031,0.00029,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19690000,-0.29,0.011,-0.0058,0.96,0.01,0.0074,0.026,0.0049,0.0043,0.022,-0.0014,-0.0061,2.5e-05,0.0067,0.0039,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.031,0.031,0.0078,0.051,0.051,0.035,3.2e-06,3.2e-06,4.6e-06,0.031,0.031,0.00029,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19790000,-0.29,0.011,-0.0059,0.96,0.013,0.0064,0.024,0.006,0.0043,0.018,-0.0014,-0.0061,2.5e-05,0.0071,0.0037,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.0078,0.053,0.053,0.035,3e-06,3e-06,4.6e-06,0.031,0.031,0.00028,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19890000,-0.29,0.011,-0.0059,0.96,0.013,0.0062,0.024,0.0073,0.0049,0.016,-0.0014,-0.0061,2.5e-05,0.0072,0.0036,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.033,0.033,0.0078,0.059,0.059,0.035,3e-06,3e-06,4.6e-06,0.031,0.031,0.00028,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19990000,-0.29,0.011,-0.0059,0.96,0.013,0.0079,0.022,0.0068,0.0051,0.013,-0.0014,-0.0061,2.4e-05,0.0075,0.0033,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.028,0.028,0.0077,0.051,0.051,0.035,2.7e-06,2.7e-06,4.6e-06,0.031,0.031,0.00027,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20090000,-0.29,0.011,-0.0059,0.96,0.012,0.01,0.022,0.0081,0.006,0.017,-0.0014,-0.0061,2.4e-05,0.0075,0.0033,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.031,0.031,0.0077,0.057,0.057,0.035,2.7e-06,2.7e-06,4.6e-06,0.031,0.031,0.00027,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20190000,-0.29,0.012,-0.0059,0.96,0.011,0.0071,0.023,0.0077,0.0057,0.016,-0.0014,-0.006,2.4e-05,0.0078,0.0033,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.03,0.03,0.0076,0.059,0.059,0.035,2.6e-06,2.6e-06,4.6e-06,0.031,0.031,0.00026,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20290000,-0.29,0.012,-0.0059,0.96,0.014,0.009,0.023,0.009,0.0064,0.017,-0.0014,-0.006,2.4e-05,0.0079,0.0032,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.033,0.033,0.0076,0.066,0.066,0.035,2.6e-06,2.6e-06,4.6e-06,0.031,0.031,0.00026,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20390000,-0.29,0.012,-0.0058,0.96,0.015,0.0077,0.023,0.0085,0.006,0.018,-0.0014,-0.006,2.4e-05,0.0082,0.0032,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.031,0.031,0.0075,0.068,0.068,0.035,2.4e-06,2.4e-06,4.6e-06,0.031,0.031,0.00026,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20490000,-0.29,0.012,-0.0058,0.96,0.02,0.0097,0.023,0.01,0.0068,0.016,-0.0014,-0.006,2.4e-05,0.0084,0.003,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.034,0.034,0.0075,0.076,0.076,0.035,2.4e-06,2.4e-06,4.6e-06,0.031,0.031,0.00025,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20590000,-0.29,0.012,-0.0058,0.96,0.018,0.01,0.023,0.009,0.0063,0.015,-0.0014,-0.006,2.4e-05,0.0088,0.0029,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00043,0.00043,0.019,0.033,0.033,0.0074,0.078,0.078,0.035,2.2e-06,2.2e-06,4.6e-06,0.031,0.031,0.00025,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20690000,-0.29,0.012,-0.0057,0.96,0.02,0.0093,0.023,0.011,0.0072,0.015,-0.0014,-0.006,2.4e-05,0.0089,0.0028,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.035,0.035,0.0075,0.086,0.086,0.035,2.2e-06,2.2e-06,4.6e-06,0.031,0.031,0.00025,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20790000,-0.29,0.012,-0.0052,0.96,0.02,0.0058,0.0084,0.0068,0.0047,0.014,-0.0014,-0.006,2.4e-05,0.0095,0.0026,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00042,0.00042,0.019,0.028,0.028,0.0074,0.067,0.067,0.035,2e-06,2e-06,4.6e-06,0.031,0.031,0.00024,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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20990000,-0.29,0.0029,0.0064,0.96,0.041,-0.021,-0.25,0.0064,0.0033,-0.0075,-0.0014,-0.006,2.4e-05,0.0097,0.0024,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.026,0.027,0.0072,0.06,0.06,0.035,1.8e-06,1.8e-06,4.6e-06,0.031,0.031,0.00023,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21090000,-0.29,0.0034,0.0049,0.96,0.057,-0.033,-0.37,0.011,0.00058,-0.038,-0.0014,-0.006,2.4e-05,0.0097,0.0024,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.029,0.029,0.0073,0.066,0.066,0.035,1.8e-06,1.8e-06,4.6e-06,0.031,0.031,0.00023,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21190000,-0.29,0.0054,0.0022,0.96,0.06,-0.037,-0.49,0.0074,0.0014,-0.075,-0.0013,-0.0059,2.3e-05,0.0099,0.0018,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.025,0.025,0.0072,0.055,0.055,0.035,1.6e-06,1.6e-06,4.6e-06,0.03,0.031,0.00023,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21290000,-0.29,0.007,0.00021,0.96,0.061,-0.04,-0.62,0.013,-0.0025,-0.13,-0.0013,-0.0059,2.3e-05,0.0099,0.0017,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.028,0.028,0.0071,0.061,0.061,0.035,1.6e-06,1.6e-06,4.6e-06,0.03,0.031,0.00022,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21390000,-0.29,0.0079,-0.0014,0.96,0.051,-0.03,-0.75,0.0095,0.0035,-0.2,-0.0013,-0.0059,2.1e-05,0.01,-8.3e-05,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0004,0.00039,0.019,0.027,0.028,0.0071,0.063,0.063,0.035,1.5e-06,1.5e-06,4.6e-06,0.03,0.03,0.00022,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21490000,-0.29,0.0084,-0.0022,0.96,0.046,-0.028,-0.89,0.014,0.0006,-0.28,-0.0013,-0.0059,2.1e-05,0.01,-0.00018,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.03,0.03,0.0071,0.07,0.07,0.035,1.5e-06,1.5e-06,4.6e-06,0.03,0.03,0.00022,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21590000,-0.29,0.0086,-0.0029,0.96,0.03,-0.018,-1,0.0069,0.0087,-0.37,-0.0012,-0.0059,1.9e-05,0.01,-0.0022,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00039,0.00039,0.019,0.029,0.029,0.007,0.072,0.072,0.034,1.5e-06,1.5e-06,4.6e-06,0.03,0.03,0.00021,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21690000,-0.29,0.0085,-0.0033,0.96,0.027,-0.013,-1.1,0.0097,0.0072,-0.49,-0.0012,-0.0059,1.9e-05,0.011,-0.0024,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00039,0.00039,0.019,0.032,0.032,0.007,0.08,0.08,0.035,1.5e-06,1.5e-06,4.6e-06,0.03,0.03,0.00021,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21790000,-0.29,0.0087,-0.0038,0.96,0.018,-0.0011,-1.3,0.005,0.017,-0.61,-0.0011,-0.0059,1.8e-05,0.011,-0.0042,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00039,0.00038,0.019,0.031,0.031,0.0069,0.081,0.081,0.034,1.4e-06,1.4e-06,4.6e-06,0.03,0.03,0.00021,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21890000,-0.29,0.0088,-0.0041,0.96,0.013,0.0032,-1.4,0.0066,0.017,-0.75,-0.0011,-0.0059,1.8e-05,0.011,-0.0044,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00039,0.00039,0.019,0.033,0.034,0.0069,0.09,0.09,0.034,1.4e-06,1.4e-06,4.6e-06,0.03,0.03,0.00021,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21990000,-0.29,0.0094,-0.005,0.96,0.002,0.014,-1.4,-0.0045,0.027,-0.89,-0.0011,-0.0059,1.6e-05,0.011,-0.0063,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00038,0.00038,0.019,0.032,0.032,0.0068,0.091,0.091,0.034,1.3e-06,1.3e-06,4.6e-06,0.03,0.03,0.0002,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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34490000,-0.29,0.014,-0.0077,0.96,0.025,0.1,-0.053,0.054,-0.012,-0.052,-0.0013,-0.0057,2.4e-05,0.033,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.39,0.39,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
34590000,-0.29,0.014,-0.0076,0.96,0.026,0.095,0.74,0.05,-0.028,-0.023,-0.0013,-0.0057,2.6e-05,0.033,-0.022,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.023,0.023,0.005,0.39,0.39,0.03,2.7e-07,2.6e-07,4.7e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
34690000,-0.29,0.013,-0.0076,0.96,0.03,0.095,1.7,0.053,-0.018,0.096,-0.0013,-0.0057,2.5e-05,0.033,-0.022,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.024,0.024,0.0051,0.4,0.4,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
34790000,-0.29,0.013,-0.0076,0.96,0.032,0.087,2.7,0.049,-0.032,0.27,-0.0013,-0.0057,2.6e-05,0.035,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.023,0.023,0.005,0.4,0.4,0.03,2.7e-07,2.6e-07,4.7e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
34890000,-0.29,0.013,-0.0076,0.96,0.037,0.087,3.7,0.053,-0.024,0.57,-0.0013,-0.0057,2.5e-05,0.036,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.024,0.025,0.005,0.41,0.41,0.03,2.7e-07,2.6e-07,4.7e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19290000,-0.29,0.011,-0.0057,0.96,0.0054,0.0095,0.025,0.0039,0.0049,0.023,-0.0014,-0.0061,2.6e-05,0.0059,0.0041,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.032,0.032,0.008,0.052,0.052,0.035,3.9e-06,3.9e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19390000,-0.29,0.011,-0.0059,0.96,0.005,0.008,0.026,0.003,0.005,0.022,-0.0014,-0.0061,2.5e-05,0.0062,0.0039,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.029,0.029,0.0079,0.045,0.045,0.035,3.5e-06,3.5e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19490000,-0.29,0.011,-0.0059,0.96,0.0059,0.0083,0.025,0.0036,0.0058,0.022,-0.0014,-0.0061,2.6e-05,0.0063,0.0038,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.031,0.031,0.0079,0.051,0.051,0.035,3.5e-06,3.5e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19590000,-0.29,0.011,-0.0058,0.96,0.0079,0.0084,0.027,0.0041,0.0036,0.022,-0.0014,-0.0061,2.6e-05,0.0066,0.004,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.0078,0.045,0.045,0.035,3.2e-06,3.2e-06,4.6e-06,0.031,0.031,0.00029,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19690000,-0.29,0.011,-0.0058,0.96,0.01,0.0074,0.026,0.0049,0.0043,0.022,-0.0014,-0.0061,2.6e-05,0.0067,0.0039,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.031,0.031,0.0078,0.051,0.051,0.035,3.2e-06,3.2e-06,4.6e-06,0.031,0.031,0.00029,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19790000,-0.29,0.011,-0.0059,0.96,0.013,0.0064,0.024,0.006,0.0043,0.018,-0.0014,-0.0061,2.6e-05,0.0071,0.0037,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.0078,0.053,0.053,0.035,3e-06,3e-06,4.6e-06,0.031,0.031,0.00028,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19890000,-0.29,0.011,-0.0059,0.96,0.013,0.0062,0.024,0.0073,0.0049,0.016,-0.0014,-0.0061,2.6e-05,0.0072,0.0036,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.033,0.033,0.0078,0.059,0.059,0.035,3e-06,3e-06,4.6e-06,0.031,0.031,0.00028,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19990000,-0.29,0.011,-0.0059,0.96,0.013,0.0079,0.022,0.0068,0.0051,0.013,-0.0014,-0.0061,2.6e-05,0.0075,0.0033,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00045,0.00044,0.019,0.028,0.028,0.0077,0.051,0.051,0.035,2.7e-06,2.7e-06,4.6e-06,0.031,0.031,0.00027,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20090000,-0.29,0.011,-0.0059,0.96,0.012,0.01,0.022,0.0081,0.006,0.017,-0.0014,-0.0061,2.6e-05,0.0075,0.0033,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.031,0.031,0.0077,0.057,0.057,0.035,2.7e-06,2.7e-06,4.6e-06,0.031,0.031,0.00027,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20190000,-0.29,0.012,-0.0059,0.96,0.011,0.0071,0.023,0.0077,0.0057,0.016,-0.0014,-0.006,2.6e-05,0.0078,0.0033,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.03,0.03,0.0076,0.059,0.059,0.035,2.6e-06,2.6e-06,4.6e-06,0.031,0.031,0.00026,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20290000,-0.29,0.012,-0.0059,0.96,0.014,0.009,0.023,0.009,0.0064,0.017,-0.0014,-0.006,2.6e-05,0.0079,0.0032,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00045,0.00044,0.019,0.033,0.033,0.0076,0.066,0.066,0.035,2.6e-06,2.6e-06,4.6e-06,0.031,0.031,0.00026,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20390000,-0.29,0.012,-0.0058,0.96,0.015,0.0077,0.023,0.0085,0.006,0.018,-0.0014,-0.006,2.6e-05,0.0082,0.0032,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.031,0.031,0.0075,0.068,0.068,0.035,2.4e-06,2.4e-06,4.6e-06,0.031,0.031,0.00026,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20490000,-0.29,0.012,-0.0058,0.96,0.02,0.0097,0.023,0.01,0.0068,0.016,-0.0014,-0.006,2.6e-05,0.0084,0.003,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.034,0.034,0.0075,0.076,0.076,0.035,2.4e-06,2.4e-06,4.6e-06,0.031,0.031,0.00025,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20590000,-0.29,0.012,-0.0058,0.96,0.018,0.01,0.023,0.009,0.0063,0.015,-0.0014,-0.006,2.6e-05,0.0088,0.0029,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00043,0.00043,0.019,0.033,0.033,0.0074,0.078,0.078,0.035,2.2e-06,2.2e-06,4.6e-06,0.031,0.031,0.00025,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20690000,-0.29,0.012,-0.0057,0.96,0.02,0.0093,0.023,0.011,0.0072,0.015,-0.0014,-0.006,2.6e-05,0.0089,0.0028,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.035,0.035,0.0075,0.086,0.086,0.035,2.2e-06,2.2e-06,4.6e-06,0.031,0.031,0.00025,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20790000,-0.29,0.012,-0.0052,0.96,0.02,0.0058,0.0084,0.0068,0.0047,0.014,-0.0014,-0.006,2.7e-05,0.0095,0.0026,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00042,0.00042,0.019,0.028,0.028,0.0074,0.067,0.067,0.035,2e-06,2e-06,4.6e-06,0.031,0.031,0.00024,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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20990000,-0.29,0.0029,0.0064,0.96,0.041,-0.021,-0.25,0.0064,0.0033,-0.0075,-0.0014,-0.006,2.6e-05,0.0097,0.0024,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.026,0.027,0.0072,0.06,0.06,0.035,1.8e-06,1.8e-06,4.6e-06,0.031,0.031,0.00023,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21090000,-0.29,0.0034,0.0049,0.96,0.057,-0.033,-0.37,0.011,0.00058,-0.038,-0.0014,-0.006,2.6e-05,0.0097,0.0024,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00041,0.00041,0.019,0.029,0.029,0.0073,0.066,0.066,0.035,1.8e-06,1.8e-06,4.6e-06,0.031,0.031,0.00023,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21190000,-0.29,0.0054,0.0022,0.96,0.06,-0.037,-0.49,0.0074,0.0014,-0.075,-0.0013,-0.0059,2.6e-05,0.0099,0.0018,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.025,0.025,0.0072,0.055,0.055,0.035,1.6e-06,1.6e-06,4.6e-06,0.03,0.031,0.00023,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21290000,-0.29,0.007,0.00021,0.96,0.061,-0.04,-0.62,0.013,-0.0025,-0.13,-0.0013,-0.0059,2.6e-05,0.0099,0.0017,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.028,0.028,0.0071,0.061,0.061,0.035,1.6e-06,1.6e-06,4.6e-06,0.03,0.031,0.00022,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21390000,-0.29,0.0079,-0.0014,0.96,0.051,-0.03,-0.75,0.0095,0.0035,-0.2,-0.0013,-0.0059,2.4e-05,0.01,-8.2e-05,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0004,0.00039,0.019,0.027,0.028,0.0071,0.063,0.063,0.035,1.5e-06,1.5e-06,4.6e-06,0.03,0.03,0.00022,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21490000,-0.29,0.0084,-0.0022,0.96,0.046,-0.028,-0.89,0.014,0.00059,-0.28,-0.0013,-0.0059,2.4e-05,0.01,-0.00018,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.0004,0.0004,0.019,0.03,0.03,0.0071,0.07,0.07,0.035,1.5e-06,1.5e-06,4.6e-06,0.03,0.03,0.00022,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21590000,-0.29,0.0086,-0.0029,0.96,0.03,-0.018,-1,0.0069,0.0087,-0.37,-0.0012,-0.0059,2.3e-05,0.01,-0.0022,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00039,0.00039,0.019,0.029,0.029,0.007,0.072,0.072,0.034,1.5e-06,1.5e-06,4.6e-06,0.03,0.03,0.00021,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21690000,-0.29,0.0085,-0.0033,0.96,0.027,-0.013,-1.1,0.0097,0.0071,-0.49,-0.0012,-0.0059,2.3e-05,0.011,-0.0024,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00039,0.00039,0.019,0.032,0.032,0.007,0.08,0.08,0.035,1.5e-06,1.5e-06,4.6e-06,0.03,0.03,0.00021,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21790000,-0.29,0.0087,-0.0038,0.96,0.018,-0.0011,-1.3,0.005,0.017,-0.61,-0.0011,-0.0059,2.2e-05,0.011,-0.0042,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00039,0.00038,0.019,0.031,0.031,0.0069,0.081,0.081,0.034,1.4e-06,1.4e-06,4.6e-06,0.03,0.03,0.00021,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
21890000,-0.29,0.0088,-0.0041,0.96,0.013,0.0032,-1.4,0.0066,0.017,-0.75,-0.0011,-0.0059,2.2e-05,0.011,-0.0044,-0.13,-0.017,-0.0038,0.57,0,0,0,0,0,0.00039,0.00039,0.019,0.033,0.034,0.0069,0.09,0.09,0.034,1.4e-06,1.4e-06,4.6e-06,0.03,0.03,0.00021,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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337 33490000,-0.29,0.014,-0.0084,0.96,-0.0042,0.1,-0.077,0.051,0.0015,0.0017,-0.0013,-0.0057,1.9e-05,0.031,-0.026,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.026,0.026,0.0051,0.35,0.35,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 33490000,-0.29,0.014,-0.0084,0.96,-0.0042,0.1,-0.077,0.051,0.0014,0.0017,-0.0013,-0.0057,3.4e-05,0.031,-0.026,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.026,0.026,0.0051,0.35,0.35,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
338 33590000,-0.29,0.014,-0.0082,0.96,-0.00096,0.097,-0.073,0.052,-0.013,-0.0062,-0.0013,-0.0057,2e-05,0.031,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00035,0.021,0.025,0.025,0.0051,0.34,0.34,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 33590000,-0.29,0.014,-0.0082,0.96,-0.00094,0.097,-0.073,0.052,-0.013,-0.0062,-0.0013,-0.0057,3.5e-05,0.031,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.0051,0.34,0.34,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
339 33690000,-0.29,0.014,-0.0082,0.96,0.0028,0.1,-0.074,0.052,-0.0031,-0.014,-0.0013,-0.0057,2e-05,0.031,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00035,0.021,0.026,0.026,0.0051,0.36,0.36,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 33690000,-0.29,0.014,-0.0082,0.96,0.0029,0.1,-0.074,0.052,-0.0031,-0.014,-0.0013,-0.0057,3.5e-05,0.031,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.36,0.36,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
340 33790000,-0.29,0.014,-0.0081,0.96,0.007,0.098,-0.069,0.051,-0.018,-0.021,-0.0013,-0.0057,2.1e-05,0.032,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.0051,0.35,0.35,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 33790000,-0.29,0.014,-0.0081,0.96,0.007,0.098,-0.069,0.051,-0.018,-0.021,-0.0013,-0.0057,3.6e-05,0.032,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.0051,0.35,0.35,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
341 33890000,-0.29,0.014,-0.0081,0.96,0.011,0.1,-0.068,0.052,-0.0078,-0.028,-0.0013,-0.0057,2.1e-05,0.032,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00035,0.021,0.026,0.026,0.0051,0.36,0.36,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 33890000,-0.29,0.014,-0.0081,0.96,0.011,0.1,-0.068,0.052,-0.0079,-0.028,-0.0013,-0.0057,3.6e-05,0.032,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.36,0.36,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
342 33990000,-0.29,0.014,-0.008,0.96,0.014,0.098,-0.065,0.053,-0.018,-0.031,-0.0013,-0.0057,2.2e-05,0.032,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.005,0.36,0.36,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 33990000,-0.29,0.014,-0.008,0.96,0.014,0.098,-0.065,0.053,-0.018,-0.031,-0.0013,-0.0057,3.7e-05,0.032,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.005,0.36,0.36,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
343 34090000,-0.29,0.014,-0.008,0.96,0.017,0.1,-0.063,0.055,-0.0074,-0.036,-0.0013,-0.0057,2.3e-05,0.032,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.37,0.37,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34090000,-0.29,0.014,-0.008,0.96,0.017,0.1,-0.063,0.055,-0.0075,-0.036,-0.0013,-0.0057,3.8e-05,0.032,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.37,0.37,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
344 34190000,-0.29,0.014,-0.0079,0.96,0.02,0.099,-0.061,0.052,-0.02,-0.039,-0.0013,-0.0057,2.3e-05,0.032,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.005,0.37,0.37,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34190000,-0.29,0.014,-0.0079,0.96,0.02,0.099,-0.061,0.052,-0.02,-0.039,-0.0013,-0.0057,3.9e-05,0.032,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.005,0.37,0.37,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
345 34290000,-0.29,0.014,-0.0078,0.96,0.02,0.1,-0.06,0.054,-0.0099,-0.045,-0.0013,-0.0057,2.3e-05,0.032,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.38,0.38,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34290000,-0.29,0.014,-0.0078,0.96,0.02,0.1,-0.06,0.054,-0.0099,-0.045,-0.0013,-0.0057,3.9e-05,0.032,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.38,0.38,0.03,2.7e-07,2.7e-07,4.8e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
346 34390000,-0.29,0.014,-0.0076,0.96,0.022,0.099,-0.055,0.052,-0.023,-0.049,-0.0013,-0.0057,2.4e-05,0.033,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.024,0.005,0.38,0.38,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34390000,-0.29,0.014,-0.0076,0.96,0.022,0.099,-0.055,0.052,-0.023,-0.049,-0.0013,-0.0057,4e-05,0.033,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.024,0.005,0.38,0.38,0.03,2.7e-07,2.7e-07,4.8e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
347 34490000,-0.29,0.014,-0.0077,0.96,0.025,0.1,-0.053,0.054,-0.012,-0.052,-0.0013,-0.0057,2.4e-05,0.033,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.39,0.39,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34490000,-0.29,0.014,-0.0077,0.96,0.025,0.1,-0.053,0.054,-0.012,-0.052,-0.0013,-0.0057,4e-05,0.033,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.39,0.39,0.03,2.7e-07,2.7e-07,4.8e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
348 34590000,-0.29,0.014,-0.0076,0.96,0.026,0.095,0.74,0.05,-0.028,-0.023,-0.0013,-0.0057,2.6e-05,0.033,-0.022,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.023,0.023,0.005,0.39,0.39,0.03,2.7e-07,2.6e-07,4.7e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34590000,-0.29,0.014,-0.0076,0.96,0.026,0.095,0.74,0.05,-0.028,-0.023,-0.0013,-0.0057,4.1e-05,0.033,-0.022,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.023,0.023,0.005,0.39,0.39,0.03,2.7e-07,2.6e-07,4.8e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
349 34690000,-0.29,0.013,-0.0076,0.96,0.03,0.095,1.7,0.053,-0.018,0.096,-0.0013,-0.0057,2.5e-05,0.033,-0.022,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.024,0.024,0.0051,0.4,0.4,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34690000,-0.29,0.013,-0.0076,0.96,0.03,0.095,1.7,0.053,-0.018,0.096,-0.0013,-0.0057,4.1e-05,0.033,-0.022,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.024,0.024,0.0051,0.4,0.4,0.03,2.7e-07,2.7e-07,4.8e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
350 34790000,-0.29,0.013,-0.0076,0.96,0.032,0.087,2.7,0.049,-0.032,0.27,-0.0013,-0.0057,2.6e-05,0.035,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.023,0.023,0.005,0.4,0.4,0.03,2.7e-07,2.6e-07,4.7e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34790000,-0.29,0.013,-0.0076,0.96,0.032,0.087,2.7,0.049,-0.032,0.27,-0.0013,-0.0057,4.2e-05,0.035,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.023,0.023,0.005,0.4,0.4,0.03,2.7e-07,2.6e-07,4.8e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
351 34890000,-0.29,0.013,-0.0076,0.96,0.037,0.087,3.7,0.053,-0.024,0.57,-0.0013,-0.0057,2.5e-05,0.036,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.024,0.025,0.005,0.41,0.41,0.03,2.7e-07,2.6e-07,4.7e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 34890000,-0.29,0.013,-0.0076,0.96,0.037,0.087,3.7,0.053,-0.024,0.57,-0.0013,-0.0057,4.2e-05,0.036,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.024,0.024,0.005,0.41,0.41,0.03,2.7e-07,2.6e-07,4.8e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1

43
src/modules/ekf2/test/test_EKF_flow.cpp
View File

@ -301,4 +301,47 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData)
<< "estimated vel = " << estimated_horz_velocity(0);
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
<< "estimated vel = " << estimated_horz_velocity(1);
_ekf->state().vector().print();
_ekf->covariances().print();
}
TEST_F(EkfFlowTest, yawMotionNoMagFusion)
{
// WHEN: fusing range finder and optical flow data in air
const float simulated_distance_to_ground = 5.f;
startRangeFinderFusion(simulated_distance_to_ground);
startZeroFlowFusion();
_ekf_wrapper.setMagFuseTypeNone();
_ekf->set_in_air_status(true);
_ekf->set_vehicle_at_rest(false);
_sensor_simulator.runSeconds(5.f);
// AND WHEN: there is a pure yaw rotation
const Vector3f body_rate(0.f, 0.f, 3.14159f);
const Vector3f flow_offset(-0.15, 0.05f, 0.2f);
_ekf_wrapper.setFlowOffset(flow_offset);
const Vector2f simulated_horz_velocity(body_rate % flow_offset);
flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, simulated_distance_to_ground);
// use flow sensor gyro data
// for clarification of the sign, see definition of flowSample
flow_sample.gyro_rate = -body_rate;
_sensor_simulator._flow.setData(flow_sample);
_sensor_simulator._imu.setGyroData(body_rate);
_sensor_simulator.runSeconds(10.f);
// THEN: the flow due to the yaw rotation and the offsets is canceled
// and the velocity estimate stays 0
const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f)
<< "estimated vel = " << estimated_horz_velocity(0);
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
<< "estimated vel = " << estimated_horz_velocity(1);
_ekf->state().vector().print();
_ekf->covariances().print();
}