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ekf2: predict covariance before predicting state (#20715) 

* To predict the covariance, the jacobian from the previous to the current state is required.
This commit is contained in:
Mathieu Bresciani 2022-12-07 15:34:19 +01:00 committed by GitHub
parent c12d9124bd
commit a187bb3b80
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3 changed files with 236 additions and 236 deletions
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2
src/modules/ekf2/EKF/ekf.cpp
View File

@ -103,8 +103,8 @@ bool Ekf::update()
// Only run the filter if IMU data in the buffer has been updated
if (_imu_updated) {
// perform state and covariance prediction for the main filter
predictState();
predictCovariance();
predictState();
// control fusion of observation data
controlFusionModes();

224
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -1,13 +1,13 @@
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
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@ -34,14 +34,14 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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38090000,-0.68,0.0028,-0.0031,0.74,0.042,0.1,-0.073,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,6.5e-06,-0.002,0.0014,-0.00097,0.21,0.0021,0.44,0,0,0,0,0,5.5e-05,1.8e-05,1.8e-05,5.9e-05,0.05,0.051,0.0066,0.6,0.6,0.031,2.9e-11,3e-11,6.2e-11,1.7e-06,1.6e-06,5e-08,0,0,0,0,0,0,0,0
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 10000 1 -0.011 -0.011 -0.00011 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 90000 1 -0.011 -0.01 -0.022 -0.0011 0.00084 -0.011 -5.7e-05 2.6e-05 -0.00039 0 0 0 0 0 0 0.19 9.3e-10 0.4 0 0 0 0 0 1.5e-06 0.0025 0.0025 0.0021 0.26 0.26 0.56 0.25 0.25 4 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
4 190000 1 -0.011 -0.01 -0.022 -0.0012 1.8e-05 -0.025 -0.00014 5.9e-05 -0.002 4.7e-15 -9.3e-15 -1e-14 -2.4e-16 -2.5e-16 -1.5e-12 1.6e-12 -7.5e-11 0.19 9.3e-10 0.4 0 0 0 0 0 1.1e-06 0.0026 0.0026 0.0012 0.28 0.28 0.56 0.26 0.26 1.3 1e-06 1e-06 9.9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
5 290000 1 -0.011 -0.011 -0.022 0.00047 0.00042 -0.039 1.7e-05 -4.6e-06 -0.0038 9e-13 8.8e-13 -7.8e-13 -9.1e-13 -1e-14 -7.6e-12 7.7e-12 -9.1e-09 0.19 9.3e-10 0.4 0 0 0 0 0 1e-06 0.0027 0.0027 0.00084 25 25 0.56 1e+02 1e+02 0.4 1e-06 1e-06 9.8e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
6 390000 1 -0.011 -0.011 -0.022 0.0012 0.00016 -0.053 0.0001 4.7e-05 -0.0064 1.3e-12 1.1e-12 1.3e-12 -2.8e-13 2.5e-13 2.6e-13 -7.6e-12 7.7e-12 -7.9e-08 0.19 9.3e-10 0.4 0 0 0 0 0 9.8e-07 0.0028 0.0028 0.00069 25 25 0.56 1e+02 1e+02 0.23 1e-06 1e-06 9.5e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
7 490000 1 -0.011 -0.011 -0.022 0.003 -0.00086 -0.068 0.00017 -4.7e-05 -0.0099 1.7e-11 1.6e-11 3.9e-11 3.1e-11 1e-12 1.1e-12 -7.6e-12 7.7e-12 -3.4e-07 0.19 9.3e-10 0.4 0 0 0 0 0 1e-06 0.0031 0.0031 0.00062 25 25 0.55 0.37 0.37 0.17 1e-06 1e-06 9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
8 590000 1 -0.011 -0.012 -0.022 0.0044 -0.00055 -0.079 0.00055 -0.00012 -0.014 8.6e-11 8.3e-11 2.5e-10 2.3e-10 1.4e-12 1.9e-12 -7.6e-12 7.7e-12 -8.8e-07 0.19 9.3e-10 0.4 0 0 0 0 0 1.1e-06 0.0033 0.0033 0.0006 25 25 0.54 0.97 0.97 0.15 1e-06 1e-06 8.4e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
9 690000 1 -0.011 -0.012 -0.022 0.004 -0.0013 -0.09 0.0003 -0.0001 -0.019 -1.4e-09 -9.3e-09 -9.4e-09 1.1e-10 1.2e-10 -7.6e-12 7.7e-12 -2.1e-06 0.19 9.3e-10 0.4 0 0 0 0 0 1.2e-06 0.0036 0.0036 0.00059 7.8 7.8 0.51 0.34 0.34 0.13 1e-06 1e-06 7.7e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
10 790000 1 -0.011 -0.012 -0.022 0.0056 -0.0014 -0.1 0.00076 -0.00025 -0.024 -9.6e-10 -9.8e-10 -7.9e-09 -8.1e-09 1e-10 -7.6e-12 7.7e-12 -3.9e-06 0.19 9.3e-10 0.4 0 0 0 0 0 1.3e-06 0.004 0.004 0.00059 7.9 7.9 0.48 0.67 0.67 0.13 1e-06 1e-06 6.9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
11 890000 1 -0.011 -0.012 -0.022 0.007 -0.002 -0.11 0.00053 -0.00018 -0.034 -1.1e-08 -4.3e-08 6.2e-10 -7.6e-12 7.7e-12 -3.9e-06 0.19 9.3e-10 0.4 0 0 0 0 0 1.4e-06 0.0044 0.0044 0.00059 2.7 2.7 0.49 0.26 0.26 0.17 1e-06 1e-06 6.1e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
12 990000 1 -0.011 -0.013 -0.022 0.011 -0.0039 -0.13 0.0014 -0.00046 -0.047 -1.1e-08 -4.3e-08 6.2e-10 -7.6e-12 7.7e-12 -3.9e-06 0.19 9.3e-10 0.4 0 0 0 0 0 1.6e-06 0.0048 0.0048 0.00058 2.8 2.8 0.49 0.42 0.42 0.21 1e-06 1e-06 5.3e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
13 1090000 1 -0.011 -0.013 -0.022 0.011 -0.0046 -0.14 0.0011 -0.0004 -0.06 -5.9e-08 -2e-07 2.8e-09 -7.6e-12 7.7e-12 -3.9e-06 0.19 9.3e-10 0.4 0 0 0 0 0 1.8e-06 0.0052 0.0052 0.00058 1.3 1.3 0.5 0.2 0.2 0.27 9.9e-07 9.9e-07 4.6e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
34 3190000 1 -0.011 -0.012 -0.022 0.02 -0.0038 -0.43 0.0052 -0.0014 -0.67 -1.2e-05 -3.7e-05 3.6e-07 -7.6e-12 7.7e-12 -4.2e-06 0.19 9.3e-10 0.4 0 0 0 0 0 9.2e-07 0.0022 0.0022 0.0003 0.66 0.66 0.85 0.15 0.15 4.4 2.5e-07 2.5e-07 3.5e-08 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
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246
src/modules/ekf2/test/change_indication/iris_gps.csv
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@ -1,112 +1,112 @@
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@ -319,7 +319,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 10000 1 -0.0099 -0.011 -0.0001 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 90000 0.98 -0.0093 -0.012 0.18 -0.00049 -0.0031 -0.01 -4.6e-05 -0.00013 -0.00035 0 0 0 0 0 0 0.2 -6.1e-09 0.43 0 0 0 0 0 6.5e-05 0.0025 0.0025 0.002 0.26 0.26 0.56 0.25 0.25 4 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
4 190000 0.98 -0.0093 -0.012 0.18 -0.0022 -0.0031 -0.023 -0.00015 -0.00042 0.032 8.4e-13 8e-13 -3.1e-12 -3.2e-12 -6.3e-14 -6.5e-14 -1.9e-10 2.1e-10 -9.5e-09 0.2 -6.1e-09 0.43 0 0 0 0 0 3.7e-05 0.0025 0.0025 0.0011 0.28 0.28 0.56 0.26 0.26 1.3 1e-06 1e-06 9.9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
5 290000 0.98 -0.0094 -0.013 0.18 -0.00044 -0.0021 -0.039 -5.2e-05 -0.00011 0.035 1.7e-11 1.6e-11 -4.4e-11 -4.6e-11 -1e-12 -8.5e-10 -8.4e-10 9.3e-10 -8.4e-08 0.2 -6.1e-09 0.43 0 0 0 0 0 2.7e-05 0.0027 0.0027 0.00081 25 25 0.56 1e+02 1e+02 0.4 1e-06 1e-06 9.8e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
6 390000 0.98 -0.0094 -0.013 0.18 0.00035 -0.003 -0.055 -0.0001 -0.00032 0.042 -2.2e-11 -2e-11 -1.8e-11 -1.5e-11 -7.2e-13 -6.4e-13 -8.5e-10 -8.4e-10 9.3e-10 6.4e-08 0.2 -6.1e-09 0.43 0 0 0 0 0 2.2e-05 0.0028 0.0028 0.00067 25 25 0.56 1e+02 1e+02 0.23 1e-06 1e-06 9.5e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
7 490000 0.98 -0.0094 -0.013 0.18 0.00082 -0.006 -0.07 3.7e-05 -0.00035 0.043 -2.7e-10 -2.6e-10 -7.2e-11 -6.4e-11 5.2e-13 7.1e-13 -8.5e-10 -8.4e-10 9.3e-10 6.9e-08 0.2 -6.1e-09 0.43 0 0 0 0 0 2e-05 0.003 0.003 0.00061 25 25 0.55 0.37 0.37 0.17 1e-06 1e-06 9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
8 590000 0.98 -0.0095 -0.014 0.18 0.00014 -0.0087 -0.091 9.4e-05 -0.0011 0.03 -1.3e-09 3.5e-10 4e-10 1.5e-11 1.6e-11 -8.5e-10 -8.4e-10 9.3e-10 1.2e-06 0.2 -6.1e-09 0.43 0 0 0 0 0 1.9e-05 0.0033 0.0033 0.00058 25 25 0.54 0.97 0.97 0.15 1e-06 1e-06 8.4e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
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