fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: allow wind dead-reckoning after manual position reset

Browse Source 
Reset velocity using airspeed and start navigating
This commit is contained in:
bresch 2024-02-27 11:33:51 +01:00 committed by Daniel Agar
parent 2491548a0f
commit 051baec9c4
5 changed files with 66 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
src/modules/ekf2/EKF/airspeed_fusion.cpp
View File

@ -93,7 +93,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr;
const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f);
const bool starting_conditions_passing = continuing_conditions_passing && is_airspeed_significant
&& (is_airspeed_consistent || !_control_status.flags.wind); // if wind isn't already estimated, the states are reset when starting airspeed fusion
&& (is_airspeed_consistent || !_control_status.flags.wind || _control_status.flags.inertial_dead_reckoning);
if (_control_status.flags.fuse_aspd) {
if (continuing_conditions_passing) {
@ -118,17 +118,16 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
} else if (starting_conditions_passing) {
ECL_INFO("starting airspeed fusion");
// If starting wind state estimation, reset the wind states and covariances before fusing any data
// Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet.
const Vector2f wind_var_xy = getWindVelocityVariance();
if (_control_status.flags.inertial_dead_reckoning && !is_airspeed_consistent) {
resetVelUsingAirspeed(airspeed_sample);
if (!_control_status.flags.wind || (wind_var_xy(0) + wind_var_xy(1) > sq(_params.initial_wind_uncertainty))) {
// activate the wind states
_control_status.flags.wind = true;
// reset the wind speed states and corresponding covariances
} else if (!_control_status.flags.wind || getWindVelocityVariance().longerThan(_params.initial_wind_uncertainty)) {
// If starting wind state estimation, reset the wind states and covariances before fusing any data
// Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet.
resetWindUsingAirspeed(airspeed_sample);
}
_control_status.flags.wind = true;
_control_status.flags.fuse_aspd = true;
}
@ -247,3 +246,18 @@ void Ekf::resetWindUsingAirspeed(const airspeedSample &airspeed_sample)
_aid_src_airspeed.time_last_fuse = _time_delayed_us;
}
void Ekf::resetVelUsingAirspeed(const airspeedSample &airspeed_sample)
{
const float euler_yaw = getEulerYaw(_R_to_earth);
// Estimate velocity using zero sideslip assumption and airspeed measurement
Vector2f horizontal_velocity;
horizontal_velocity(0) = _state.wind_vel(0) + airspeed_sample.true_airspeed * cosf(euler_yaw);
horizontal_velocity(1) = _state.wind_vel(1) + airspeed_sample.true_airspeed * sinf(euler_yaw);
float vel_var = NAN; // Do not reset the velocity variance as wind variance estimate is most likely not correct
resetHorizontalVelocityTo(horizontal_velocity, vel_var);
_aid_src_airspeed.time_last_fuse = _time_delayed_us;
}

1
src/modules/ekf2/EKF/ekf.h
View File

@ -788,6 +788,7 @@ private:
// Reset the wind states using the current airspeed measurement, ground relative nav velocity, yaw angle and assumption of zero sideslip
void resetWindUsingAirspeed(const airspeedSample &airspeed_sample);
void resetVelUsingAirspeed(const airspeedSample &airspeed_sample);
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_SIDESLIP)

5
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp
View File

@ -100,6 +100,11 @@ bool EkfWrapper::isIntendingBetaFusion() const
return _ekf->control_status_flags().fuse_beta;
}
bool EkfWrapper::isIntendingAirspeedFusion() const
{
return _ekf->control_status_flags().fuse_aspd;
}
void EkfWrapper::enableGpsFusion()
{
_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL);

2
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
View File

@ -73,6 +73,8 @@ public:
void disableBetaFusion();
bool isIntendingBetaFusion() const;
bool isIntendingAirspeedFusion() const;
void enableGpsFusion();
void disableGpsFusion();
bool isIntendingGpsFusion() const;

36
src/modules/ekf2/test/test_EKF_airspeed.cpp
View File

@ -166,3 +166,39 @@ TEST_F(EkfAirspeedTest, testResetWindUsingAirspeed)
EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1.f);
EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1.f);
}
TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
{
const Vector3f simulated_velocity_earth(-3.6f, 8.f, 0.0f);
const Vector2f airspeed_body(15.f, 0.0f);
_sensor_simulator.runSeconds(10);
_ekf->set_in_air_status(true);
_ekf->set_vehicle_at_rest(false);
_ekf->set_is_fixed_wing(true);
const double latitude_new = -15.0000005;
const double longitude_new = -115.0000005;
const float altitude_new = 1500.0;
_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new);
_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, 50.f, 0);
// Simulate the fact that the sideslip can start immediately, without
// waiting for a measurement sample.
_ekf_wrapper.enableBetaFusion();
_sensor_simulator.runSeconds(1.f);
EXPECT_TRUE(_ekf_wrapper.isIntendingBetaFusion());
_sensor_simulator.startAirspeedSensor();
_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
_sensor_simulator.runSeconds(1.f);
EXPECT_TRUE(_ekf_wrapper.isIntendingAirspeedFusion());
EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
const Vector3f vel = _ekf->getVelocity();
EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 1e-3f);
const Vector2f vel_wind_earth = _ekf->getWindVelocity();
EXPECT_NEAR(vel_wind_earth(0), 0.f, .1f);
EXPECT_NEAR(vel_wind_earth(1), 0.f, .1f);
}