px4-firmware/EKF/vel_pos_fusion.cpp

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/**
 * @file vel_pos_fusion.cpp
 * Function for fusing gps and baro measurements/
 *
 * @author Roman Bast <bapstroman@gmail.com>
 * @author Siddharth Bharat Purohit <siddharthbharatpurohit@gmail.com>
 * @author Paul Riseborough <p_riseborough@live.com.au>
 *
 */

#include "ekf.h"
#include <ecl.h>
#include <mathlib/mathlib.h>

void Ekf::fuseVelPosHeight()
{
	bool fuse_map[6] = {}; // map of booleans true when [VN,VE,VD,PN,PE,PD] observations are available
	bool innov_check_pass_map[6] = {}; // true when innovations consistency checks pass for [VN,VE,VD,PN,PE,PD] observations
	float R[6] = {}; // observation variances for [VN,VE,VD,PN,PE,PD]
	float gate_size[6] = {}; // innovation consistency check gate sizes for [VN,VE,VD,PN,PE,PD] observations
	float Kfusion[24] = {}; // Kalman gain vector for any single observation - sequential fusion is used
	float innovation[6]; // local copy of innovations for  [VN,VE,VD,PN,PE,PD]
	memcpy(innovation, _vel_pos_innov, sizeof(_vel_pos_innov));

	// calculate innovations, innovations gate sizes and observation variances
	if (_fuse_hor_vel || _fuse_hor_vel_aux) {
		// enable fusion for NE velocity axes
		fuse_map[0] = fuse_map[1] = true;

		// handle special case where we are getting velocity observations from an auxiliary source
		if (!_fuse_hor_vel) {
			innovation[0] = _aux_vel_innov[0];
			innovation[1] = _aux_vel_innov[1];
		}

		// Set observation noise variance and innovation consistency check gate size for the NE position observations
		R[0] = _velObsVarNE(0);
		R[1] = _velObsVarNE(1);
		gate_size[1] = gate_size[0] = _hvelInnovGate;

	}

	if (_fuse_vert_vel) {
		fuse_map[2] = true;
		// observation variance - use receiver reported accuracy with parameter setting the minimum value
		R[2] = fmaxf(_params.gps_vel_noise, 0.01f);
		// use scaled horizontal speed accuracy assuming typical ratio of VDOP/HDOP
		R[2] = 1.5f * fmaxf(R[2], _gps_sample_delayed.sacc);
		R[2] = R[2] * R[2];
		// innovation gate size
		gate_size[2] = fmaxf(_params.vel_innov_gate, 1.0f);
	}

	if (_fuse_pos) {
		// enable fusion for the NE position axes
		fuse_map[3] = fuse_map[4] = true;

		// Set observation noise variance and innovation consistency check gate size for the NE position observations
		R[4] = R[3] = sq(_posObsNoiseNE);
		gate_size[4] = gate_size[3] = _posInnovGateNE;

	}

	if (_fuse_height) {
		if (_control_status.flags.baro_hgt) {
			fuse_map[5] = true;
			// vertical position innovation - baro measurement has opposite sign to earth z axis
			innovation[5] = _state.pos(2) + _baro_sample_delayed.hgt - _baro_hgt_offset - _hgt_sensor_offset;
			// observation variance - user parameter defined
			R[5] = fmaxf(_params.baro_noise, 0.01f);
			R[5] = R[5] * R[5];
			// innovation gate size
			gate_size[5] = fmaxf(_params.baro_innov_gate, 1.0f);

			// Compensate for positive static pressure transients (negative vertical position innovations)
			// casued by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
			float deadzone_start = 0.25f * _params.baro_noise;
			float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;

			if (_control_status.flags.gnd_effect) {
				if (innovation[5] < -deadzone_start) {
					if (innovation[5] <= -deadzone_end) {
						innovation[5] += deadzone_end;

					} else {
						innovation[5] = -deadzone_start;
					}
				}
			}

		} else if (_control_status.flags.gps_hgt) {
			fuse_map[5] = true;
			// vertical position innovation - gps measurement has opposite sign to earth z axis
			innovation[5] = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref - _hgt_sensor_offset;
			// observation variance - receiver defined and parameter limited
			// use scaled horizontal position accuracy assuming typical ratio of VDOP/HDOP
			float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
			float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
			R[5] = 1.5f * math::constrain(_gps_sample_delayed.vacc, lower_limit, upper_limit);
			R[5] = R[5] * R[5];
			// innovation gate size
			gate_size[5] = fmaxf(_params.baro_innov_gate, 1.0f);

		} else if (_control_status.flags.rng_hgt && (_R_rng_to_earth_2_2 > _params.range_cos_max_tilt)) {
			fuse_map[5] = true;
			// use range finder with tilt correction
			innovation[5] = _state.pos(2) - (-math::max(_range_sample_delayed.rng * _R_rng_to_earth_2_2,
							 _params.rng_gnd_clearance)) - _hgt_sensor_offset;
			// observation variance - user parameter defined
			R[5] = fmaxf((sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sample_delayed.rng)) * sq(_R_rng_to_earth_2_2), 0.01f);
			// innovation gate size
			gate_size[5] = fmaxf(_params.range_innov_gate, 1.0f);

		} else if (_control_status.flags.ev_hgt) {
			fuse_map[5] = true;
			// calculate the innovation assuming the external vision observaton is in local NED frame
			innovation[5] = _state.pos(2) - _ev_sample_delayed.posNED(2);
			// observation variance - defined externally
			R[5] = fmaxf(_ev_sample_delayed.posErr, 0.01f);
			R[5] = R[5] * R[5];
			// innovation gate size
			gate_size[5] = fmaxf(_params.ev_innov_gate, 1.0f);
		}

		// update innovation class variable for logging purposes
		_vel_pos_innov[5] = innovation[5];
	}

	// calculate innovation test ratios
	for (unsigned obs_index = 0; obs_index < 6; obs_index++) {
		if (fuse_map[obs_index]) {
			// compute the innovation variance SK = HPH + R
			unsigned state_index = obs_index + 4;	// we start with vx and this is the 4. state
			_vel_pos_innov_var[obs_index] = P[state_index][state_index] + R[obs_index];
			// Compute the ratio of innovation to gate size
			_vel_pos_test_ratio[obs_index] = sq(innovation[obs_index]) / (sq(gate_size[obs_index]) *
							 _vel_pos_innov_var[obs_index]);
		}
	}

	// check position, velocity and height innovations
	// treat 3D velocity, 2D position and height as separate sensors
	// always pass position checks if using synthetic position measurements or yet to complete tilt alignment
	// always pass height checks if yet to complete tilt alignment
	bool vel_check_pass = (_vel_pos_test_ratio[0] <= 1.0f) && (_vel_pos_test_ratio[1] <= 1.0f)
			      && (_vel_pos_test_ratio[2] <= 1.0f);
	innov_check_pass_map[2] = innov_check_pass_map[1] = innov_check_pass_map[0] = vel_check_pass;
	bool pos_check_pass = ((_vel_pos_test_ratio[3] <= 1.0f) && (_vel_pos_test_ratio[4] <= 1.0f)) || !_control_status.flags.tilt_align;
	innov_check_pass_map[4] = innov_check_pass_map[3] = pos_check_pass;
	innov_check_pass_map[5] = (_vel_pos_test_ratio[5] <= 1.0f) || !_control_status.flags.tilt_align;

	// record the successful velocity fusion event
	if ((_fuse_hor_vel || _fuse_hor_vel_aux || _fuse_vert_vel) && vel_check_pass) {
		_time_last_vel_fuse = _time_last_imu;
		_innov_check_fail_status.flags.reject_vel_NED = false;

	} else if (!vel_check_pass) {
		_innov_check_fail_status.flags.reject_vel_NED = true;
	}

	_fuse_hor_vel = _fuse_hor_vel_aux = _fuse_vert_vel = false;

	// record the successful position fusion event
	if (pos_check_pass && _fuse_pos) {
		if (!_fuse_hpos_as_odom) {
			_time_last_pos_fuse = _time_last_imu;

		} else {
			_time_last_delpos_fuse = _time_last_imu;
		}

		_innov_check_fail_status.flags.reject_pos_NE = false;

	} else if (!pos_check_pass) {
		_innov_check_fail_status.flags.reject_pos_NE = true;
	}

	_fuse_pos = false;

	// record the successful height fusion event
	if (innov_check_pass_map[5] && _fuse_height) {
		_time_last_hgt_fuse = _time_last_imu;
		_innov_check_fail_status.flags.reject_pos_D = false;

	} else if (!innov_check_pass_map[5]) {
		_innov_check_fail_status.flags.reject_pos_D = true;
	}

	_fuse_height = false;

	for (unsigned obs_index = 0; obs_index < 6; obs_index++) {
		// skip fusion if not requested or checks have failed
		if (!fuse_map[obs_index] || !innov_check_pass_map[obs_index]) {
			continue;
		}

		unsigned state_index = obs_index + 4;	// we start with vx and this is the 4. state

		// calculate kalman gain K = PHS, where S = 1/innovation variance
		for (int row = 0; row < _k_num_states; row++) {
			Kfusion[row] = P[row][state_index] / _vel_pos_innov_var[obs_index];
		}

		// update covarinace matrix via Pnew = (I - KH)P
		float KHP[_k_num_states][_k_num_states];

		for (unsigned row = 0; row < _k_num_states; row++) {
			for (unsigned column = 0; column < _k_num_states; column++) {
				KHP[row][column] = Kfusion[row] * P[state_index][column];
			}
		}

		// if the covariance correction will result in a negative variance, then
		// the covariance marix is unhealthy and must be corrected
		bool healthy = true;

		for (int i = 0; i < _k_num_states; i++) {
			if (P[i][i] < KHP[i][i]) {
				// zero rows and columns
				zeroRows(P, i, i);
				zeroCols(P, i, i);

				//flag as unhealthy
				healthy = false;

				// update individual measurement health status
				if (obs_index == 0) {
					_fault_status.flags.bad_vel_N = true;

				} else if (obs_index == 1) {
					_fault_status.flags.bad_vel_E = true;

				} else if (obs_index == 2) {
					_fault_status.flags.bad_vel_D = true;

				} else if (obs_index == 3) {
					_fault_status.flags.bad_pos_N = true;

				} else if (obs_index == 4) {
					_fault_status.flags.bad_pos_E = true;

				} else if (obs_index == 5) {
					_fault_status.flags.bad_pos_D = true;
				}

			} else {
				// update individual measurement health status
				if (obs_index == 0) {
					_fault_status.flags.bad_vel_N = false;

				} else if (obs_index == 1) {
					_fault_status.flags.bad_vel_E = false;

				} else if (obs_index == 2) {
					_fault_status.flags.bad_vel_D = false;

				} else if (obs_index == 3) {
					_fault_status.flags.bad_pos_N = false;

				} else if (obs_index == 4) {
					_fault_status.flags.bad_pos_E = false;

				} else if (obs_index == 5) {
					_fault_status.flags.bad_pos_D = false;
				}
			}
		}

		// only apply covariance and state corrrections if healthy
		if (healthy) {
			// apply the covariance corrections
			for (unsigned row = 0; row < _k_num_states; row++) {
				for (unsigned column = 0; column < _k_num_states; column++) {
					P[row][column] = P[row][column] - KHP[row][column];
				}
			}

			// correct the covariance marix for gross errors
			fixCovarianceErrors();

			// apply the state corrections
			fuse(Kfusion, innovation[obs_index]);
		}
	}
}