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unit test: check that the accel bias is only learned when observable (#827)

This commit is contained in:
Mathieu Bresciani 2020-05-25 11:10:01 +02:00 committed by GitHub
parent c91c78dcf6
commit b024cdd282
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 41 additions and 0 deletions
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5
test/sensor_simulator/ekf_wrapper.cpp
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@ -200,3 +200,8 @@ int EkfWrapper::getQuaternionResetCounter() const
_ekf->get_quat_reset(tmp, &counter);
return static_cast<int>(counter);
}
matrix::Vector3f EkfWrapper::getDeltaVelBiasVariance() const
{
return _ekf->covariances_diagonal().slice<3, 1>(13,0);
}

2
test/sensor_simulator/ekf_wrapper.h
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@ -94,6 +94,8 @@ public:
matrix::Vector<float, 4> getQuaternionVariance() const;
int getQuaternionResetCounter() const;
matrix::Vector3f getDeltaVelBiasVariance() const;
private:
std::shared_ptr<Ekf> _ekf;

34
test/test_EKF_initialization.cpp
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@ -108,6 +108,25 @@ class EkfInitializationTest : public ::testing::Test {
EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1)" << vel_var(1);
EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2)" << vel_var(2);
}
void learningCorrectAccelBias()
{
const Dcmf R_to_earth = Dcmf(_ekf->getQuaternion());
const Vector3f dvel_bias_var = _ekf_wrapper.getDeltaVelBiasVariance();
const Vector3f accel_bias = _ekf->getAccelBias();
for (int i = 0; i < 3; i++){
if (fabsf(R_to_earth(2, i)) > 0.8f) {
// Highly observable, the variance decreases
EXPECT_LT(dvel_bias_var(i), 2.0e-6f) << "axis " << i;
} else {
// Poorly observable, the variance is set to 0
EXPECT_FLOAT_EQ(dvel_bias_var(i), 0.f) << "axis" << i;
EXPECT_FLOAT_EQ(accel_bias(i), 0.f) << "axis" << i;
}
}
}
};
TEST_F(EkfInitializationTest, initializeWithZeroTilt)
@ -122,6 +141,9 @@ TEST_F(EkfInitializationTest, initializeWithZeroTilt)
initializedOrienationIsMatchingGroundTruth(quat_sim);
validStateAfterOrientationInitialization();
_sensor_simulator.runSeconds(1.f);
learningCorrectAccelBias();
}
TEST_F(EkfInitializationTest, initializeHeadingWithZeroTilt)
@ -137,6 +159,9 @@ TEST_F(EkfInitializationTest, initializeHeadingWithZeroTilt)
initializedOrienationIsMatchingGroundTruth(quat_sim);
validStateAfterOrientationInitialization();
_sensor_simulator.runSeconds(1.f);
learningCorrectAccelBias();
}
TEST_F(EkfInitializationTest, initializeWithTilt)
@ -151,6 +176,9 @@ TEST_F(EkfInitializationTest, initializeWithTilt)
initializedOrienationIsMatchingGroundTruth(quat_sim);
validStateAfterOrientationInitialization();
_sensor_simulator.runSeconds(1.f);
learningCorrectAccelBias();
}
TEST_F(EkfInitializationTest, initializeWithPitch90)
@ -166,6 +194,9 @@ TEST_F(EkfInitializationTest, initializeWithPitch90)
initializedOrienationIsMatchingGroundTruth(quat_sim);
// TODO: Quaternion Variance is smaller in this case than in the other cases
validStateAfterOrientationInitialization();
_sensor_simulator.runSeconds(1.f);
learningCorrectAccelBias();
}
TEST_F(EkfInitializationTest, initializeWithRoll90)
@ -180,4 +211,7 @@ TEST_F(EkfInitializationTest, initializeWithRoll90)
initializedOrienationIsMatchingGroundTruth(quat_sim);
validStateAfterOrientationInitialization();
_sensor_simulator.runSeconds(1.f);
learningCorrectAccelBias();
}