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px4-firmware/EKF/airspeed_fusion.cpp

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/****************************************************************************
*
* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
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* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name ECL nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file airspeed_fusion.cpp
* airspeed fusion methods.
*
* @author Carl Olsson <carlolsson.co@gmail.com>
* @author Roman Bast <bapstroman@gmail.com>
* @author Paul Riseborough <p_riseborough@live.com.au>
*
*/
#include "../ecl.h"
#include "ekf.h"
#include "mathlib.h"
void Ekf::fuseAirspeed()
{
// Initialize variables
float vn; // Velocity in north direction
float ve; // Velocity in east direction
float vd; // Velocity in downwards direction
float vwn; // Wind speed in north direction
float vwe; // Wind speed in east direction
float v_tas_pred; // Predicted measurement
float R_TAS = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * math::constrain(_airspeed_sample_delayed.eas2tas, 0.9f,
10.0f)); // Variance for true airspeed measurement - (m/sec)^2
float SH_TAS[3] = {}; // Varialbe used to optimise calculations of measurement jacobian
float H_TAS[24] = {}; // Observation Jacobian
float SK_TAS[2] = {}; // Varialbe used to optimise calculations of the Kalman gain vector
float Kfusion[24] = {}; // Kalman gain vector
// Copy required states to local variable names
vn = _state.vel(0);
ve = _state.vel(1);
vd = _state.vel(2);
vwn = _state.wind_vel(0);
vwe = _state.wind_vel(1);
// Calculate the predicted airspeed
v_tas_pred = sqrtf((ve - vwe) * (ve - vwe) + (vn - vwn) * (vn - vwn) + vd * vd);
// Perform fusion of True Airspeed measurement
if (v_tas_pred > 1.0f) {
// Calculate the observation jacobian
// intermediate variable from algebraic optimisation
SH_TAS[0] = 1.0f/v_tas_pred;
SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2.0f*vwe))*0.5f;
SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2.0f*vwn))*0.5f;
for (uint8_t i = 0; i < _k_num_states; i++) { H_TAS[i] = 0.0f; }
H_TAS[4] = SH_TAS[2];
H_TAS[5] = SH_TAS[1];
H_TAS[6] = vd*SH_TAS[0];
H_TAS[22] = -SH_TAS[2];
H_TAS[23] = -SH_TAS[1];
// We don't want to update the innovation variance if the calculation is ill conditioned
float _airspeed_innov_var_temp = (R_TAS + SH_TAS[2]*(P[4][4]*SH_TAS[2] + P[5][4]*SH_TAS[1] - P[22][4]*SH_TAS[2] - P[23][4]*SH_TAS[1] + P[6][4]*vd*SH_TAS[0]) + SH_TAS[1]*(P[4][5]*SH_TAS[2] + P[5][5]*SH_TAS[1] - P[22][5]*SH_TAS[2] - P[23][5]*SH_TAS[1] + P[6][5]*vd*SH_TAS[0]) - SH_TAS[2]*(P[4][22]*SH_TAS[2] + P[5][22]*SH_TAS[1] - P[22][22]*SH_TAS[2] - P[23][22]*SH_TAS[1] + P[6][22]*vd*SH_TAS[0]) - SH_TAS[1]*(P[4][23]*SH_TAS[2] + P[5][23]*SH_TAS[1] - P[22][23]*SH_TAS[2] - P[23][23]*SH_TAS[1] + P[6][23]*vd*SH_TAS[0]) + vd*SH_TAS[0]*(P[4][6]*SH_TAS[2] + P[5][6]*SH_TAS[1] - P[22][6]*SH_TAS[2] - P[23][6]*SH_TAS[1] + P[6][6]*vd*SH_TAS[0]));
if (_airspeed_innov_var_temp >= R_TAS) { // Check for badly conditioned calculation
SK_TAS[0] = 1.0f / _airspeed_innov_var_temp;
_fault_status.flags.bad_airspeed = false;
} else { // Reset the estimator covarinace matrix
_fault_status.flags.bad_airspeed = true;
initialiseCovariance();
ECL_ERR("EKF airspeed fusion numerical error - covariance reset");
return;
}
SK_TAS[1] = SH_TAS[1];
if (((_time_last_imu - _time_last_gps) < 1e6) || ((_time_last_imu - _time_last_ext_vision) < 1e6) || ((_time_last_imu - _time_last_optflow) < 1e6)) {
// If we are getting aiding from other sources, then don't allow the airspeed measurements to affect the non-windspeed states
for (unsigned row = 0; row <= 21; row++) {
Kfusion[row] = 0.0f;
}
} else {
// we have no other source of aiding, so use airspeed measurements to correct states
Kfusion[0] = SK_TAS[0]*(P[0][4]*SH_TAS[2] - P[0][22]*SH_TAS[2] + P[0][5]*SK_TAS[1] - P[0][23]*SK_TAS[1] + P[0][6]*vd*SH_TAS[0]);
Kfusion[1] = SK_TAS[0]*(P[1][4]*SH_TAS[2] - P[1][22]*SH_TAS[2] + P[1][5]*SK_TAS[1] - P[1][23]*SK_TAS[1] + P[1][6]*vd*SH_TAS[0]);
Kfusion[2] = SK_TAS[0]*(P[2][4]*SH_TAS[2] - P[2][22]*SH_TAS[2] + P[2][5]*SK_TAS[1] - P[2][23]*SK_TAS[1] + P[2][6]*vd*SH_TAS[0]);
Kfusion[3] = SK_TAS[0]*(P[3][4]*SH_TAS[2] - P[3][22]*SH_TAS[2] + P[3][5]*SK_TAS[1] - P[3][23]*SK_TAS[1] + P[3][6]*vd*SH_TAS[0]);
Kfusion[4] = SK_TAS[0]*(P[4][4]*SH_TAS[2] - P[4][22]*SH_TAS[2] + P[4][5]*SK_TAS[1] - P[4][23]*SK_TAS[1] + P[4][6]*vd*SH_TAS[0]);
Kfusion[5] = SK_TAS[0]*(P[5][4]*SH_TAS[2] - P[5][22]*SH_TAS[2] + P[5][5]*SK_TAS[1] - P[5][23]*SK_TAS[1] + P[5][6]*vd*SH_TAS[0]);
Kfusion[6] = SK_TAS[0]*(P[6][4]*SH_TAS[2] - P[6][22]*SH_TAS[2] + P[6][5]*SK_TAS[1] - P[6][23]*SK_TAS[1] + P[6][6]*vd*SH_TAS[0]);
Kfusion[7] = SK_TAS[0]*(P[7][4]*SH_TAS[2] - P[7][22]*SH_TAS[2] + P[7][5]*SK_TAS[1] - P[7][23]*SK_TAS[1] + P[7][6]*vd*SH_TAS[0]);
Kfusion[8] = SK_TAS[0]*(P[8][4]*SH_TAS[2] - P[8][22]*SH_TAS[2] + P[8][5]*SK_TAS[1] - P[8][23]*SK_TAS[1] + P[8][6]*vd*SH_TAS[0]);
Kfusion[9] = SK_TAS[0]*(P[9][4]*SH_TAS[2] - P[9][22]*SH_TAS[2] + P[9][5]*SK_TAS[1] - P[9][23]*SK_TAS[1] + P[9][6]*vd*SH_TAS[0]);
Kfusion[10] = SK_TAS[0]*(P[10][4]*SH_TAS[2] - P[10][22]*SH_TAS[2] + P[10][5]*SK_TAS[1] - P[10][23]*SK_TAS[1] + P[10][6]*vd*SH_TAS[0]);
Kfusion[11] = SK_TAS[0]*(P[11][4]*SH_TAS[2] - P[11][22]*SH_TAS[2] + P[11][5]*SK_TAS[1] - P[11][23]*SK_TAS[1] + P[11][6]*vd*SH_TAS[0]);
Kfusion[12] = SK_TAS[0]*(P[12][4]*SH_TAS[2] - P[12][22]*SH_TAS[2] + P[12][5]*SK_TAS[1] - P[12][23]*SK_TAS[1] + P[12][6]*vd*SH_TAS[0]);
Kfusion[13] = SK_TAS[0]*(P[13][4]*SH_TAS[2] - P[13][22]*SH_TAS[2] + P[13][5]*SK_TAS[1] - P[13][23]*SK_TAS[1] + P[13][6]*vd*SH_TAS[0]);
Kfusion[14] = SK_TAS[0]*(P[14][4]*SH_TAS[2] - P[14][22]*SH_TAS[2] + P[14][5]*SK_TAS[1] - P[14][23]*SK_TAS[1] + P[14][6]*vd*SH_TAS[0]);
Kfusion[15] = SK_TAS[0]*(P[15][4]*SH_TAS[2] - P[15][22]*SH_TAS[2] + P[15][5]*SK_TAS[1] - P[15][23]*SK_TAS[1] + P[15][6]*vd*SH_TAS[0]);
Kfusion[16] = SK_TAS[0]*(P[16][4]*SH_TAS[2] - P[16][22]*SH_TAS[2] + P[16][5]*SK_TAS[1] - P[16][23]*SK_TAS[1] + P[16][6]*vd*SH_TAS[0]);
Kfusion[17] = SK_TAS[0]*(P[17][4]*SH_TAS[2] - P[17][22]*SH_TAS[2] + P[17][5]*SK_TAS[1] - P[17][23]*SK_TAS[1] + P[17][6]*vd*SH_TAS[0]);
Kfusion[18] = SK_TAS[0]*(P[18][4]*SH_TAS[2] - P[18][22]*SH_TAS[2] + P[18][5]*SK_TAS[1] - P[18][23]*SK_TAS[1] + P[18][6]*vd*SH_TAS[0]);
Kfusion[19] = SK_TAS[0]*(P[19][4]*SH_TAS[2] - P[19][22]*SH_TAS[2] + P[19][5]*SK_TAS[1] - P[19][23]*SK_TAS[1] + P[19][6]*vd*SH_TAS[0]);
Kfusion[20] = SK_TAS[0]*(P[20][4]*SH_TAS[2] - P[20][22]*SH_TAS[2] + P[20][5]*SK_TAS[1] - P[20][23]*SK_TAS[1] + P[20][6]*vd*SH_TAS[0]);
Kfusion[21] = SK_TAS[0]*(P[21][4]*SH_TAS[2] - P[21][22]*SH_TAS[2] + P[21][5]*SK_TAS[1] - P[21][23]*SK_TAS[1] + P[21][6]*vd*SH_TAS[0]);
}
Kfusion[22] = SK_TAS[0]*(P[22][4]*SH_TAS[2] - P[22][22]*SH_TAS[2] + P[22][5]*SK_TAS[1] - P[22][23]*SK_TAS[1] + P[22][6]*vd*SH_TAS[0]);
Kfusion[23] = SK_TAS[0]*(P[23][4]*SH_TAS[2] - P[23][22]*SH_TAS[2] + P[23][5]*SK_TAS[1] - P[23][23]*SK_TAS[1] + P[23][6]*vd*SH_TAS[0]);
// Calculate measurement innovation
_airspeed_innov = v_tas_pred -
_airspeed_sample_delayed.true_airspeed;
// Calculate the innovation variance
_airspeed_innov_var = 1.0f / SK_TAS[0];
// Compute the ratio of innovation to gate size
_tas_test_ratio = sq(_airspeed_innov) / (sq(fmaxf(_params.tas_innov_gate, 1.0f)) * _airspeed_innov_var);
// If the innovation consistency check fails then don't fuse the sample and indicate bad airspeed health
if (_tas_test_ratio > 1.0f) {
_innov_check_fail_status.flags.reject_airspeed = true;
return;
}
else {
_innov_check_fail_status.flags.reject_airspeed = false;
}
// Airspeed measurement sample has passed check so record it
_time_last_arsp_fuse = _time_last_imu;
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
float KHP[_k_num_states][_k_num_states];
float KH[5];
for (unsigned row = 0; row < _k_num_states; row++) {
KH[0] = Kfusion[row] * H_TAS[4];
KH[1] = Kfusion[row] * H_TAS[5];
KH[2] = Kfusion[row] * H_TAS[6];
KH[3] = Kfusion[row] * H_TAS[22];
KH[4] = Kfusion[row] * H_TAS[23];
for (unsigned column = 0; column < _k_num_states; column++) {
float tmp = KH[0] * P[4][column];
tmp += KH[1] * P[5][column];
tmp += KH[2] * P[6][column];
tmp += KH[3] * P[22][column];
tmp += KH[4] * P[23][column];
KHP[row][column] = tmp;
}
}
// if the covariance correction will result in a negative variance, then
// the covariance marix is unhealthy and must be corrected
bool healthy = true;
_fault_status.flags.bad_airspeed = false;
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
_fault_status.flags.bad_airspeed = true;
}
}
// 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, _airspeed_innov);
}
}
}
void Ekf::get_wind_velocity(float *wind)
{
wind[0] = _state.wind_vel(0);
wind[1] = _state.wind_vel(1);
}
/*
* Reset the wind states using the current airspeed measurement, ground relative nav velocity, yaw angle and assumption of zero sideslip
*/
void Ekf::resetWindStates()
{
// get euler yaw angle
matrix::Euler<float> euler321(_state.quat_nominal);
float euler_yaw = euler321(2);
if (_tas_data_ready && (_imu_sample_delayed.time_us - _airspeed_sample_delayed.time_us < 5e5)) {
// estimate wind using zero sideslip assumption and airspeed measurement if airspeed available
_state.wind_vel(0) = _state.vel(0) - _airspeed_sample_delayed.true_airspeed * cosf(euler_yaw);
_state.wind_vel(1) = _state.vel(1) - _airspeed_sample_delayed.true_airspeed * sinf(euler_yaw);
} else {
// If we don't have an airspeed measurement, then assume the wind is zero
_state.wind_vel(0) = 0.0f;
_state.wind_vel(1) = 0.0f;
}
}
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