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Code Issues Releases Activity

OP-132 AHRS: Changes to the Indoor flight handling to only use the barometer indoors and update with a zero for velocity and high variance.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1517 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-04 02:19:04 +00:00 committed by peabody124
parent bb45b0c38a
commit 404e0c2f44
3 changed files with 63 additions and 117 deletions
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6
flight/AHRS/ahrs.c
View File

@ -380,11 +380,11 @@ int main()
vel[0] = 0;
vel[1] = 0;
vel[2] = 0;
FullCorrection(mag, gps_data.NED, vel, altitude_data.altitude);
VelBaroCorrection(vel,altitude_data.altitude);
}
}
else
MagCorrection(mag);
else if(gps_data.quality != -1)
MagCorrection(mag); // only trust mags if outdoors
attitude_data.quaternion.q1 = Nav.q[0];
attitude_data.quaternion.q2 = Nav.q[1];

33
flight/AHRS/inc/insgps.h
View File

@ -1,5 +1,10 @@
/**
******************************************************************************
* @addtogroup AHRS
* @{
* @addtogroup INSGPS
* @{
* @brief INSGPS is a joint attitude and position estimation EKF
*
* @file insgps.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
@ -27,6 +32,22 @@
#ifndef INSGPS_H_
#define INSGPS_H_
/**
* @addtogroup Constants
* @{
*/
#define POS_SENSORS 0x007
#define HORIZ_SENSORS 0x018
#define VERT_SENSORS 0x020
#define MAG_SENSORS 0x1C0
#define BARO_SENSOR 0x200
#define FULL_SENSORS 0x3FF
/**
* @}
*/
// Exposed Function Prototypes
void INSGPSInit();
void INSPrediction(float gyro_data[3], float accel_data[3], float dT);
@ -36,10 +57,11 @@ void INSSetAccelVar(float accel_var[3]);
void INSSetGyroVar(float gyro_var[3]);
void INSSetMagNorth(float B[3]);
void INSSetMagVar(float scaled_mag_var[3]);
void MagCorrection(float mag_data[3]);
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt);
void GndSpeedAndMagCorrection(float Speed, float Heading, float mag_data[3]);
void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
void VelBaroCorrection(float Vel[3], float BaroAlt);
// Nav structure containing current solution
struct NavStruct {
@ -48,10 +70,9 @@ struct NavStruct {
float q[4]; // unit quaternion rotation relative to NED
} Nav;
// constants
#define MagSensors 0x1C0
#define FullSensors 0x3FF
#define GpsMagSensors 0x1DF
#define GndSpeedAndMagSensors 0x1D8
/**
* @}
* @}
*/
#endif /* EKF_H_ */

141
flight/AHRS/insgps.c
View File

@ -1,5 +1,10 @@
/**
******************************************************************************
* @addtogroup AHRS
* @{
* @addtogroup INSGPS
* @{
* @brief INSGPS is a joint attitude and position estimation EKF
*
* @file insgps.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
@ -35,6 +40,7 @@
#define NUMU 6 // number of deterministic inputs, U is the input vector
// Private functions
void INSCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt, uint16_t SensorsUsed);
void CovariancePrediction(float F[NUMX][NUMX], float G[NUMX][NUMW], float Q[NUMW], float dT, float P[NUMX][NUMX]);
void SerialUpdate(float H[NUMV][NUMX], float R[NUMV], float Z[NUMV], float Y[NUMV],
float P[NUMX][NUMX], float X[NUMX], uint16_t SensorsUsed);
@ -159,105 +165,55 @@ void INSPrediction(float gyro_data[3], float accel_data[3], float dT)
Nav.q[3] = X[9];
}
float zeros[3] = {0,0,0};
void MagCorrection(float mag_data[3])
{
float Z[10], Y[10];
float Bmag, qmag;
// magnetometer data in any units (use unit vector) and in body frame
Bmag = sqrt(mag_data[0]*mag_data[0] + mag_data[1]*mag_data[1] + mag_data[2]*mag_data[2]);
Z[6] = mag_data[0]/Bmag;
Z[7] = mag_data[1]/Bmag;
Z[8] = mag_data[2]/Bmag;
// EKF correction step
LinearizeH(X,Be,H);
MeasurementEq(X,Be,Y);
SerialUpdate(H,R,Z,Y,P,X,MagSensors);
qmag=sqrt(X[6]*X[6] + X[7]*X[7] + X[8]*X[8] + X[9]*X[9]);
X[6] /= qmag; X[7] /= qmag; X[8] /= qmag; X[9] /= qmag;
// Update Nav solution structure
Nav.Pos[0] = X[0];
Nav.Pos[1] = X[1];
Nav.Pos[2] = X[2];
Nav.Vel[0] = X[3];
Nav.Vel[1] = X[4];
Nav.Vel[2] = X[5];
Nav.q[0] = X[6];
Nav.q[1] = X[7];
Nav.q[2] = X[8];
Nav.q[3] = X[9];
INSCorrection(mag_data, zeros, zeros, zeros[0], MAG_SENSORS);
}
void FullCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt)
{
INSCorrection(mag_data, Pos, Vel, BaroAlt, FULL_SENSORS);
}
void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[3])
{
INSCorrection(mag_data, Pos, Vel, zeros[0], POS_SENSORS | HORIZ_SENSORS | MAG_SENSORS);
}
void VelBaroCorrection(float Vel[3], float BaroAlt)
{
INSCorrection(zeros, zeros, Vel, BaroAlt, HORIZ_SENSORS | VERT_SENSORS | BARO_SENSOR);
}
void INSCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt, uint16_t SensorsUsed)
{
float Z[10], Y[10];
float Bmag, qmag;
// GPS Position in meters and in local NED frame
Z[0]=Pos[0];
Z[1]=Pos[1];
Z[2]=Pos[2];
// GPS Velocity in meters and in local NED frame
Z[3]=Vel[0];
Z[4]=Vel[1];
Z[5]=Vel[2];
// magnetometer data in any units (use unit vector) and in body frame
Bmag = sqrt(mag_data[0]*mag_data[0] + mag_data[1]*mag_data[1] + mag_data[2]*mag_data[2]);
Z[6] = mag_data[0]/Bmag;
Z[7] = mag_data[1]/Bmag;
Z[8] = mag_data[2]/Bmag;
// barometric altimeter in meters and in local NED frame
Z[9] = BaroAlt;
// EKF correction step
LinearizeH(X,Be,H);
MeasurementEq(X,Be,Y);
SerialUpdate(H,R,Z,Y,P,X,FullSensors);
qmag=sqrt(X[6]*X[6] + X[7]*X[7] + X[8]*X[8] + X[9]*X[9]);
X[6] /= qmag; X[7] /= qmag; X[8] /= qmag; X[9] /= qmag;
// Update Nav solution structure
Nav.Pos[0] = X[0];
Nav.Pos[1] = X[1];
Nav.Pos[2] = X[2];
Nav.Vel[0] = X[3];
Nav.Vel[1] = X[4];
Nav.Vel[2] = X[5];
Nav.q[0] = X[6];
Nav.q[1] = X[7];
Nav.q[2] = X[8];
Nav.q[3] = X[9];
}
void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2])
{
float Z[10], Y[10];
float Bmag, qmag;
// GPS Position in meters and in local NED frame
Z[0]=Pos[0];
Z[1]=Pos[1];
Z[2]=Pos[2];
// GPS Velocity in meters and in local NED frame
Z[3]=Vel[0];
Z[4]=Vel[1];
// magnetometer data in any units (use unit vector) and in body frame
Bmag = sqrt(mag_data[0]*mag_data[0] + mag_data[1]*mag_data[1] + mag_data[2]*mag_data[2]);
Z[6] = mag_data[0]/Bmag;
Z[7] = mag_data[1]/Bmag;
Z[8] = mag_data[2]/Bmag;
// EKF correction step
LinearizeH(X,Be,H);
MeasurementEq(X,Be,Y);
SerialUpdate(H,R,Z,Y,P,X,GpsMagSensors);
SerialUpdate(H,R,Z,Y,P,X,SensorsUsed);
qmag=sqrt(X[6]*X[6] + X[7]*X[7] + X[8]*X[8] + X[9]*X[9]);
X[6] /= qmag; X[7] /= qmag; X[8] /= qmag; X[9] /= qmag;
@ -274,41 +230,6 @@ void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2])
Nav.q[3] = X[9];
}
void GndSpeedAndMagCorrection(float Speed, float Heading, float mag_data[3])
{
float Z[10], Y[10];
float Bmag, qmag;
// Ground Speed in m/s and Heading in rad
Z[3] = Speed*cos((double)Heading);
Z[4] = Speed*sin((double)Heading);
// magnetometer data in any units (use unit vector) and in body frame
Bmag = sqrt(mag_data[0]*mag_data[0] + mag_data[1]*mag_data[1] + mag_data[2]*mag_data[2]);
Z[6] = mag_data[0]/Bmag;
Z[7] = mag_data[1]/Bmag;
Z[8] = mag_data[2]/Bmag;
// EKF correction step
LinearizeH(X,Be,H);
MeasurementEq(X,Be,Y);
SerialUpdate(H,R,Z,Y,P,X,GndSpeedAndMagSensors);
qmag=sqrt(X[6]*X[6] + X[7]*X[7] + X[8]*X[8] + X[9]*X[9]);
X[6] /= qmag; X[7] /= qmag; X[8] /= qmag; X[9] /= qmag;
// Update Nav solution structure
Nav.Pos[0] = X[0];
Nav.Pos[1] = X[1];
Nav.Pos[2] = X[2];
Nav.Vel[0] = X[3];
Nav.Vel[1] = X[4];
Nav.Vel[2] = X[5];
Nav.q[0] = X[6];
Nav.q[1] = X[7];
Nav.q[2] = X[8];
Nav.q[3] = X[9];
}
// ************* CovariancePrediction *************
// Does the prediction step of the Kalman filter for the covariance matrix
// Output, Pnew, overwrites P, the input covariance
@ -544,3 +465,7 @@ void LinearizeH(float X[NUMX], float Be[3], float H[NUMV][NUMX]){
H[9][2]=-1;
}
/**
* @}
* @}
*/