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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
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@ -75,7 +75,10 @@ bool ZeroGyroUpdate::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
K(row) = ekf.stateCovariance(row, state_index) / innov_var(i); 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 // Reset the integrators

2
src/modules/ekf2/EKF/airspeed_fusion.cpp
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@ -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; 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; aid_src.fused = is_fused;
_fault_status.flags.bad_airspeed = !is_fused; _fault_status.flags.bad_airspeed = !is_fused;

24
src/modules/ekf2/EKF/covariance.cpp
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@ -222,14 +222,6 @@ void Ekf::constrainStateVariances()
#endif // CONFIG_EKF2_WIND #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) void Ekf::constrainStateVar(const IdxDof &state, float min, float max)
{ {
for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { 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) void Ekf::resetQuatCov(const float yaw_noise)
{ {
const float tilt_var = sq(math::max(_params.initial_tilt_err, 0.01f)); const float tilt_var = sq(math::max(_params.initial_tilt_err, 0.01f));

2
src/modules/ekf2/EKF/drag_fusion.cpp
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@ -160,7 +160,7 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
VectorState K = P * H / _aid_src_drag.innovation_variance[axis_index]; 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; fused[axis_index] = true;
} }
} }

48
src/modules/ekf2/EKF/ekf.h
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@ -468,35 +468,39 @@ public:
const auto &aid_src_aux_vel() const { return _aid_src_aux_vel; } const auto &aid_src_aux_vel() const { return _aid_src_aux_vel; }
#endif // CONFIG_EKF2_AUXVEL #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); clearInhibitedStateKalmanGains(K);
const VectorState KS = K * innovation_variance; // Efficient implementation of the Joseph stabilized covariance update
SquareMatrixState KHP; // 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++) { // Step 1: conventional update
for (unsigned col = 0; col < State::size; col++) { VectorState PH = P * H;
// Instead of literally computing KHP, use an equivalent
// equation involving less mathematical operations for (unsigned i = 0; i < State::size; i++) {
KHP(row, col) = KS(row) * K(col); 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) { for (unsigned i = 0; i < State::size; i++) {
// apply the covariance corrections for (unsigned j = 0; j <= i; j++) {
P -= KHP; 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);
constrainStateVariances(); P(j, i) = P(i, j);
forceCovarianceSymmetry(); }
// apply the state corrections
fuse(K, innovation);
} }
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); void resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation);
@ -942,15 +946,9 @@ private:
#endif // CONFIG_EKF2_WIND #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 // limit the diagonal of the covariance matrix
void constrainStateVariances(); void constrainStateVariances();
void forceCovarianceSymmetry();
void constrainStateVar(const IdxDof &state, float min, float max); void constrainStateVar(const IdxDof &state, float min, float max);
void constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio = 1.e6f); 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 // only calculate gains for states we are using
VectorState Kfusion = P * H / gnss_yaw.innovation_variance; 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; _fault_status.flags.bad_hdg = !is_fused;
gnss_yaw.fused = 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]; 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) { 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
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@ -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; 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; fused[index] = true;
limitDeclination(); limitDeclination();
@ -261,7 +261,7 @@ bool Ekf::fuseDeclination(float decl_sigma)
// Calculate the Kalman gains // Calculate the Kalman gains
VectorState Kfusion = P * H / innovation_variance; 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; _fault_status.flags.bad_mag_decl = !is_fused;

2
src/modules/ekf2/EKF/optflow_fusion.cpp
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@ -146,7 +146,7 @@ void Ekf::fuseOptFlow()
VectorState Kfusion = P * H / _aid_src_optical_flow.innovation_variance[index]; 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; 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; 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; sideslip.fused = is_fused;
_fault_status.flags.bad_sideslip = !is_fused; _fault_status.flags.bad_sideslip = !is_fused;

2
src/modules/ekf2/EKF/yaw_fusion.cpp
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@ -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; _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; _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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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 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 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 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,-0.0061,2.4e-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 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,-0.0061,2.4e-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 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,-0.0058,0.96,0.0078,0.0084,0.027,0.0041,0.0036,0.022,-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 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,-0.0061,2.5e-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 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,-0.0061,2.5e-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 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,-0.0061,2.5e-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 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,-0.0061,2.4e-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 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,-0.0061,2.4e-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 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
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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
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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
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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); << "estimated vel = " << estimated_horz_velocity(0);
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f) EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
<< "estimated vel = " << estimated_horz_velocity(1); << "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();
} }