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Some small updates to 16 state INS
This commit is contained in:
James Cotton
parent
093d52b002
commit
1630267324
@ -76,37 +76,37 @@ uint16_t ins_get_num_states()
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void INSGPSInit() //pretty much just a place holder for now
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{
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Be[0] = 1;
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Be[0] = 1.0f;
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Be[1] = 0;
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Be[2] = 0; // local magnetic unit vector
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for (int i = 0; i < NUMX; i++) {
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for (int j = 0; j < NUMX; j++) {
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P[i][j] = 0; // zero all terms
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P[i][j] = 0.0f; // zero all terms
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}
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}
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P[0][0] = P[1][1] = P[2][2] = 25; // initial position variance (m^2)
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P[3][3] = P[4][4] = P[5][5] = 5; // initial velocity variance (m/s)^2
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P[6][6] = P[7][7] = P[8][8] = P[9][9] = 1e-5; // initial quaternion variance
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P[10][10] = P[11][11] = P[12][12] = 1e-5; // initial gyro bias variance (rad/s)^2
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P[0][0] = P[1][1] = P[2][2] = 25.0f; // initial position variance (m^2)
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P[3][3] = P[4][4] = P[5][5] = 5.0f; // initial velocity variance (m/s)^2
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P[6][6] = P[7][7] = P[8][8] = P[9][9] = 1e-5f; // initial quaternion variance
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P[10][10] = P[11][11] = P[12][12] = 1e-5f; // initial gyro bias variance (rad/s)^2
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X[0] = X[1] = X[2] = X[3] = X[4] = X[5] = 0; // initial pos and vel (m)
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X[6] = 1;
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X[7] = X[8] = X[9] = 0; // initial quaternion (level and North) (m/s)
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X[10] = X[11] = X[12] = 0; // initial gyro bias (rad/s)
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X[0] = X[1] = X[2] = X[3] = X[4] = X[5] = 0.0f; // initial pos and vel (m)
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X[6] = 1.0f;
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X[7] = X[8] = X[9] = 0.0f; // initial quaternion (level and North) (m/s)
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X[10] = X[11] = X[12] = 0.0f; // initial gyro bias (rad/s)
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Q[0] = Q[1] = Q[2] = 50e-8; // gyro noise variance (rad/s)^2
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Q[3] = Q[4] = Q[5] = 0.01; // accelerometer noise variance (m/s^2)^2
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Q[6] = Q[7] = Q[8] = 2e-9; // gyro bias random walk variance (rad/s^2)^2
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Q[9] = Q[10] = Q[11] = 2e-20; // accel bias random walk variance (m/s^3)^2
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Q[0] = Q[1] = Q[2] = 50e-8f; // gyro noise variance (rad/s)^2
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Q[3] = Q[4] = Q[5] = 0.01f; // accelerometer noise variance (m/s^2)^2
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Q[6] = Q[7] = Q[8] = 2e-9f; // gyro bias random walk variance (rad/s^2)^2
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Q[9] = Q[10] = Q[11] = 2e-20f; // accel bias random walk variance (m/s^3)^2
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R[0] = R[1] = 0.004; // High freq GPS horizontal position noise variance (m^2)
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R[2] = 0.036; // High freq GPS vertical position noise variance (m^2)
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R[3] = R[4] = 0.004; // High freq GPS horizontal velocity noise variance (m/s)^2
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R[5] = 100; // High freq GPS vertical velocity noise variance (m/s)^2
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R[6] = R[7] = R[8] = 0.005; // magnetometer unit vector noise variance
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R[9] = .05; // High freq altimeter noise variance (m^2)
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R[0] = R[1] = 0.004f; // High freq GPS horizontal position noise variance (m^2)
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R[2] = 0.036f; // High freq GPS vertical position noise variance (m^2)
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R[3] = R[4] = 0.004f; // High freq GPS horizontal velocity noise variance (m/s)^2
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R[5] = 100.0f; // High freq GPS vertical velocity noise variance (m/s)^2
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R[6] = R[7] = R[8] = 0.005f; // magnetometer unit vector noise variance
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R[9] = .05f; // High freq altimeter noise variance (m^2)
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}
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void INSResetP(float PDiag[NUMX])
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@ -117,7 +117,7 @@ void INSResetP(float PDiag[NUMX])
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for (i=0;i<NUMX;i++){
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if (PDiag != 0){
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for (j=0;j<NUMX;j++)
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P[i][j]=P[j][i]=0;
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P[i][j]=P[j][i]=0.0f;
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P[i][i]=PDiag[i];
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}
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}
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@ -147,13 +147,13 @@ void INSPosVelReset(float pos[3], float vel[3])
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{
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for (int i = 0; i < 6; i++) {
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for(int j = i; j < NUMX; j++) {
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P[i][j] = 0; // zero the first 6 rows and columns
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P[j][i] = 0;
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P[i][j] = 0.0f; // zero the first 6 rows and columns
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P[j][i] = 0.0f;
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}
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}
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P[0][0] = P[1][1] = P[2][2] = 25; // initial position variance (m^2)
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P[3][3] = P[4][4] = P[5][5] = 5; // initial velocity variance (m/s)^2
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P[0][0] = P[1][1] = P[2][2] = 25.0f; // initial position variance (m^2)
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P[3][3] = P[4][4] = P[5][5] = 5.0f; // initial velocity variance (m/s)^2
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X[0] = pos[0];
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X[1] = pos[1];
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@ -254,7 +254,7 @@ void INSCovariancePrediction(float dT)
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CovariancePrediction(F, G, Q, dT, P);
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}
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float zeros[3] = { 0, 0, 0 };
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float zeros[3] = { 0.0f, 0.0f, 0.0f };
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void MagCorrection(float mag_data[3])
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{
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@ -573,7 +573,7 @@ void SerialUpdate(float H[NUMV][NUMX], float R[NUMV], float Z[NUMV],
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if (SensorsUsed & (0x01 << m)) { // use this sensor for update
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for (j = 0; j < NUMX; j++) { // Find Hp = H*P
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HP[j] = 0;
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HP[j] = 0.0f;
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for (k = 0; k < NUMX; k++)
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HP[j] += H[m][k] * P[k][j];
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}
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@ -609,7 +609,7 @@ void RungeKutta(float X[NUMX], float U[NUMU], float dT)
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{
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float dT2 =
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dT / 2, K1[NUMX], K2[NUMX], K3[NUMX], K4[NUMX], Xlast[NUMX];
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dT / 2.0f, K1[NUMX], K2[NUMX], K3[NUMX], K4[NUMX], Xlast[NUMX];
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uint8_t i;
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for (i = 0; i < NUMX; i++)
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@ -629,8 +629,8 @@ void RungeKutta(float X[NUMX], float U[NUMU], float dT)
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// Xnew = X + dT*(k1+2*k2+2*k3+k4)/6
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for (i = 0; i < NUMX; i++)
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X[i] =
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Xlast[i] + dT * (K1[i] + 2 * K2[i] + 2 * K3[i] +
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K4[i]) / 6;
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Xlast[i] + dT * (K1[i] + 2.0f * K2[i] + 2.0f * K3[i] +
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K4[i]) / 6.0f;
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}
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// ************* Model Specific Stuff ***************************
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@ -674,23 +674,23 @@ void StateEq(float X[NUMX], float U[NUMU], float Xdot[NUMX])
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// Vdot = Reb*a
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Xdot[3] =
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(q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * ax + 2 * (q1 * q2 -
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(q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * ax + 2.0f * (q1 * q2 -
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q0 * q3) *
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ay + 2 * (q1 * q3 + q0 * q2) * az;
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ay + 2.0f * (q1 * q3 + q0 * q2) * az;
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Xdot[4] =
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2 * (q1 * q2 + q0 * q3) * ax + (q0 * q0 - q1 * q1 + q2 * q2 -
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q3 * q3) * ay + 2 * (q2 * q3 -
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2.0f * (q1 * q2 + q0 * q3) * ax + (q0 * q0 - q1 * q1 + q2 * q2 -
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q3 * q3) * ay + 2.0f * (q2 * q3 -
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q0 * q1) *
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az;
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Xdot[5] =
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2 * (q1 * q3 - q0 * q2) * ax + 2 * (q2 * q3 + q0 * q1) * ay +
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(q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * az + 9.81;
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2.0f * (q1 * q3 - q0 * q2) * ax + 2.0f * (q2 * q3 + q0 * q1) * ay +
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(q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * az + 9.81f;
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// qdot = Q*w
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Xdot[6] = (-q1 * wx - q2 * wy - q3 * wz) / 2;
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Xdot[7] = (q0 * wx - q3 * wy + q2 * wz) / 2;
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Xdot[8] = (q3 * wx + q0 * wy - q1 * wz) / 2;
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Xdot[9] = (-q2 * wx + q1 * wy + q0 * wz) / 2;
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Xdot[6] = (-q1 * wx - q2 * wy - q3 * wz) / 2.0f;
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Xdot[7] = (q0 * wx - q3 * wy + q2 * wz) / 2.0f;
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Xdot[8] = (q3 * wx + q0 * wy - q1 * wz) / 2.0f;
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Xdot[9] = (-q2 * wx + q1 * wy + q0 * wz) / 2.0f;
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// best guess is that bias stays constant
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Xdot[10] = Xdot[11] = Xdot[12] = 0;
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@ -715,58 +715,58 @@ void LinearizeFG(float X[NUMX], float U[NUMU], float F[NUMX][NUMX],
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q3 = X[9];
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// Pdot = V
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F[0][3] = F[1][4] = F[2][5] = 1;
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F[0][3] = F[1][4] = F[2][5] = 1.0f;
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// dVdot/dq
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F[3][6] = 2 * (q0 * ax - q3 * ay + q2 * az);
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F[3][7] = 2 * (q1 * ax + q2 * ay + q3 * az);
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F[3][8] = 2 * (-q2 * ax + q1 * ay + q0 * az);
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F[3][9] = 2 * (-q3 * ax - q0 * ay + q1 * az);
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F[4][6] = 2 * (q3 * ax + q0 * ay - q1 * az);
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F[4][7] = 2 * (q2 * ax - q1 * ay - q0 * az);
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F[4][8] = 2 * (q1 * ax + q2 * ay + q3 * az);
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F[4][9] = 2 * (q0 * ax - q3 * ay + q2 * az);
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F[5][6] = 2 * (-q2 * ax + q1 * ay + q0 * az);
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F[5][7] = 2 * (q3 * ax + q0 * ay - q1 * az);
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F[5][8] = 2 * (-q0 * ax + q3 * ay - q2 * az);
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F[5][9] = 2 * (q1 * ax + q2 * ay + q3 * az);
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F[3][6] = 2.0f * (q0 * ax - q3 * ay + q2 * az);
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F[3][7] = 2.0f * (q1 * ax + q2 * ay + q3 * az);
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F[3][8] = 2.0f * (-q2 * ax + q1 * ay + q0 * az);
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F[3][9] = 2.0f * (-q3 * ax - q0 * ay + q1 * az);
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F[4][6] = 2.0f * (q3 * ax + q0 * ay - q1 * az);
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F[4][7] = 2.0f * (q2 * ax - q1 * ay - q0 * az);
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F[4][8] = 2.0f * (q1 * ax + q2 * ay + q3 * az);
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F[4][9] = 2.0f * (q0 * ax - q3 * ay + q2 * az);
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F[5][6] = 2.0f * (-q2 * ax + q1 * ay + q0 * az);
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F[5][7] = 2.0f * (q3 * ax + q0 * ay - q1 * az);
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F[5][8] = 2.0f * (-q0 * ax + q3 * ay - q2 * az);
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F[5][9] = 2.0f * (q1 * ax + q2 * ay + q3 * az);
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// dVdot/dabias & dVdot/dna
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F[3][13]=G[3][3]=-q0*q0-q1*q1+q2*q2+q3*q3; F[3][14]=G[3][4]=2*(-q1*q2+q0*q3); F[3][15]=G[3][5]=-2*(q1*q3+q0*q2);
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F[4][13]=G[4][3]=-2*(q1*q2+q0*q3); F[4][14]=G[4][4]=-q0*q0+q1*q1-q2*q2+q3*q3; F[4][15]=G[4][5]=2*(-q2*q3+q0*q1);
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F[5][13]=G[5][3]=2*(-q1*q3+q0*q2); F[5][14]=G[5][4]=-2*(q2*q3+q0*q1); F[5][15]=G[5][5]=-q0*q0+q1*q1+q2*q2-q3*q3;
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F[3][13]=G[3][3]=-q0*q0-q1*q1+q2*q2+q3*q3; F[3][14]=G[3][4]=2.0f*(-q1*q2+q0*q3); F[3][15]=G[3][5]=-2.0f*(q1*q3+q0*q2);
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F[4][13]=G[4][3]=-2.0f*(q1*q2+q0*q3); F[4][14]=G[4][4]=-q0*q0+q1*q1-q2*q2+q3*q3; F[4][15]=G[4][5]=2.0f*(-q2*q3+q0*q1);
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F[5][13]=G[5][3]=2.0f*(-q1*q3+q0*q2); F[5][14]=G[5][4]=-2.0f*(q2*q3+q0*q1); F[5][15]=G[5][5]=-q0*q0+q1*q1+q2*q2-q3*q3;
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// dqdot/dq
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F[6][6] = 0;
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F[6][7] = -wx / 2;
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F[6][8] = -wy / 2;
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F[6][9] = -wz / 2;
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F[7][6] = wx / 2;
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F[6][7] = -wx / 2.0f;
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F[6][8] = -wy / 2.0f;
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F[6][9] = -wz / 2.0f;
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F[7][6] = wx / 2.0f;
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F[7][7] = 0;
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F[7][8] = wz / 2;
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F[7][9] = -wy / 2;
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F[8][6] = wy / 2;
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F[8][7] = -wz / 2;
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F[7][8] = wz / 2.0f;
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F[7][9] = -wy / 2.0f;
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F[8][6] = wy / 2.0f;
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F[8][7] = -wz / 2.0f;
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F[8][8] = 0;
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F[8][9] = wx / 2;
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F[9][6] = wz / 2;
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F[9][7] = wy / 2;
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F[9][8] = -wx / 2;
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F[8][9] = wx / 2.0f;
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F[9][6] = wz / 2.0f;
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F[9][7] = wy / 2.0f;
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F[9][8] = -wx / 2.0f;
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F[9][9] = 0;
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// dqdot/dwbias
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F[6][10] = q1 / 2;
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F[6][11] = q2 / 2;
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F[6][12] = q3 / 2;
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F[7][10] = -q0 / 2;
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F[7][11] = q3 / 2;
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F[7][12] = -q2 / 2;
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F[8][10] = -q3 / 2;
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F[8][11] = -q0 / 2;
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F[8][12] = q1 / 2;
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F[9][10] = q2 / 2;
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F[9][11] = -q1 / 2;
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F[9][12] = -q0 / 2;
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F[6][10] = q1 / 2.0f;
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F[6][11] = q2 / 2.0f;
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F[6][12] = q3 / 2.0f;
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F[7][10] = -q0 / 2.0f;
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F[7][11] = q3 / 2.0f;
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F[7][12] = -q2 / 2.0f;
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F[8][10] = -q3 / 2.0f;
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F[8][11] = -q0 / 2.0f;
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F[8][12] = q1 / 2.0f;
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F[9][10] = q2 / 2.0f;
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F[9][11] = -q1 / 2.0f;
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F[9][12] = -q0 / 2.0f;
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// dVdot/dna - WITH BIAS STATES ON ACCELS - THIS DONE ABOVE
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//G[3][3]=-q0*q0-q1*q1+q2*q2+q3*q3; G[3][4]=2*(-q1*q2+q0*q3); G[3][5]=-2*(q1*q3+q0*q2);
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@ -774,23 +774,23 @@ void LinearizeFG(float X[NUMX], float U[NUMU], float F[NUMX][NUMX],
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//G[5][3]=2*(-q1*q3+q0*q2); G[5][4]=-2*(q2*q3+q0*q1); G[5][5]=-q0*q0+q1*q1+q2*q2-q3*q3;
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// dqdot/dnw
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G[6][0] = q1 / 2;
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G[6][1] = q2 / 2;
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G[6][2] = q3 / 2;
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G[7][0] = -q0 / 2;
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G[7][1] = q3 / 2;
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G[7][2] = -q2 / 2;
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G[8][0] = -q3 / 2;
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G[8][1] = -q0 / 2;
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G[8][2] = q1 / 2;
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G[9][0] = q2 / 2;
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G[9][1] = -q1 / 2;
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G[9][2] = -q0 / 2;
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G[6][0] = q1 / 2.0f;
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G[6][1] = q2 / 2.0f;
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G[6][2] = q3 / 2.0f;
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G[7][0] = -q0 / 2.0f;
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G[7][1] = q3 / 2.0f;
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G[7][2] = -q2 / 2.0f;
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G[8][0] = -q3 / 2.0f;
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G[8][1] = -q0 / 2.0f;
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G[8][2] = q1 / 2.0f;
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G[9][0] = q2 / 2.0f;
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G[9][1] = -q1 / 2.0f;
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G[9][2] = -q0 / 2.0f;
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// dwbias = random walk noise
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G[10][6] = G[11][7] = G[12][8] = 1;
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G[10][6] = G[11][7] = G[12][8] = 1.0f;
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// dabias = random walk noise
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G[13][9] = G[14][10] = G[15][11] = 1;
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G[13][9] = G[14][10] = G[15][11] = 1.0f;
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}
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void MeasurementEq(float X[NUMX], float Be[3], float Y[NUMV])
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@ -813,19 +813,19 @@ void MeasurementEq(float X[NUMX], float Be[3], float Y[NUMV])
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// Bb=Rbe*Be
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Y[6] =
|
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(q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3) * Be[0] +
|
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2 * (q1 * q2 + q0 * q3) * Be[1] + 2 * (q1 * q3 -
|
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2.0f * (q1 * q2 + q0 * q3) * Be[1] + 2.0f * (q1 * q3 -
|
||||
q0 * q2) * Be[2];
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||||
Y[7] =
|
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2 * (q1 * q2 - q0 * q3) * Be[0] + (q0 * q0 - q1 * q1 +
|
||||
2.0f * (q1 * q2 - q0 * q3) * Be[0] + (q0 * q0 - q1 * q1 +
|
||||
q2 * q2 - q3 * q3) * Be[1] +
|
||||
2 * (q2 * q3 + q0 * q1) * Be[2];
|
||||
2.0f * (q2 * q3 + q0 * q1) * Be[2];
|
||||
Y[8] =
|
||||
2 * (q1 * q3 + q0 * q2) * Be[0] + 2 * (q2 * q3 -
|
||||
2.0f * (q1 * q3 + q0 * q2) * Be[0] + 2.0f * (q2 * q3 -
|
||||
q0 * q1) * Be[1] +
|
||||
(q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3) * Be[2];
|
||||
|
||||
// Alt = -Pz
|
||||
Y[9] = -X[2];
|
||||
Y[9] = X[2] * -1.0f;
|
||||
}
|
||||
|
||||
void LinearizeH(float X[NUMX], float Be[3], float H[NUMV][NUMX])
|
||||
@ -838,26 +838,26 @@ void LinearizeH(float X[NUMX], float Be[3], float H[NUMV][NUMX])
|
||||
q3 = X[9];
|
||||
|
||||
// dP/dP=I;
|
||||
H[0][0] = H[1][1] = H[2][2] = 1;
|
||||
H[0][0] = H[1][1] = H[2][2] = 1.0f;
|
||||
// dV/dV=I;
|
||||
H[3][3] = H[4][4] = H[5][5] = 1;
|
||||
H[3][3] = H[4][4] = H[5][5] = 1.0f;
|
||||
|
||||
// dBb/dq
|
||||
H[6][6] = 2 * (q0 * Be[0] + q3 * Be[1] - q2 * Be[2]);
|
||||
H[6][7] = 2 * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
H[6][8] = 2 * (-q2 * Be[0] + q1 * Be[1] - q0 * Be[2]);
|
||||
H[6][9] = 2 * (-q3 * Be[0] + q0 * Be[1] + q1 * Be[2]);
|
||||
H[7][6] = 2 * (-q3 * Be[0] + q0 * Be[1] + q1 * Be[2]);
|
||||
H[7][7] = 2 * (q2 * Be[0] - q1 * Be[1] + q0 * Be[2]);
|
||||
H[7][8] = 2 * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
H[7][9] = 2 * (-q0 * Be[0] - q3 * Be[1] + q2 * Be[2]);
|
||||
H[8][6] = 2 * (q2 * Be[0] - q1 * Be[1] + q0 * Be[2]);
|
||||
H[8][7] = 2 * (q3 * Be[0] - q0 * Be[1] - q1 * Be[2]);
|
||||
H[8][8] = 2 * (q0 * Be[0] + q3 * Be[1] - q2 * Be[2]);
|
||||
H[8][9] = 2 * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
H[6][6] = 2.0f * (q0 * Be[0] + q3 * Be[1] - q2 * Be[2]);
|
||||
H[6][7] = 2.0f * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
H[6][8] = 2.0f * (-q2 * Be[0] + q1 * Be[1] - q0 * Be[2]);
|
||||
H[6][9] = 2.0f * (-q3 * Be[0] + q0 * Be[1] + q1 * Be[2]);
|
||||
H[7][6] = 2.0f * (-q3 * Be[0] + q0 * Be[1] + q1 * Be[2]);
|
||||
H[7][7] = 2.0f * (q2 * Be[0] - q1 * Be[1] + q0 * Be[2]);
|
||||
H[7][8] = 2.0f * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
H[7][9] = 2.0f * (-q0 * Be[0] - q3 * Be[1] + q2 * Be[2]);
|
||||
H[8][6] = 2.0f * (q2 * Be[0] - q1 * Be[1] + q0 * Be[2]);
|
||||
H[8][7] = 2.0f * (q3 * Be[0] - q0 * Be[1] - q1 * Be[2]);
|
||||
H[8][8] = 2.0f * (q0 * Be[0] + q3 * Be[1] - q2 * Be[2]);
|
||||
H[8][9] = 2.0f * (q1 * Be[0] + q2 * Be[1] + q3 * Be[2]);
|
||||
|
||||
// dAlt/dPz = -1
|
||||
H[9][2] = -1;
|
||||
H[9][2] = -1.0f;
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user