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ekf2: fusion helper consistency

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- yaw fusion use measurementUpdate()
 - fuseVelPosHeight() respect _accel_bias_inhibit (like measurementUpdate())
This commit is contained in:
Daniel Agar 2022-10-17 10:17:31 -04:00 committed by GitHub
parent 7bc90c7f00
commit 116bb6049f
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 33 additions and 58 deletions
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46
src/modules/ekf2/EKF/mag_fusion.cpp
View File

@ -629,48 +629,28 @@ bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_so
_innov_check_fail_status.flags.reject_yaw = false;
}
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
SquareMatrix24f KHP;
float KH[4];
// copy observation jacobian
SparseVector24f<0,1,2,3> Hfusion;
Hfusion.at<0>() = H_YAW(0);
Hfusion.at<1>() = H_YAW(1);
Hfusion.at<2>() = H_YAW(2);
Hfusion.at<3>() = H_YAW(3);
for (unsigned row = 0; row < _k_num_states; row++) {
KH[0] = Kfusion(row) * H_YAW(0);
KH[1] = Kfusion(row) * H_YAW(1);
KH[2] = Kfusion(row) * H_YAW(2);
KH[3] = Kfusion(row) * H_YAW(3);
for (unsigned column = 0; column < _k_num_states; column++) {
float tmp = KH[0] * P(0, column);
tmp += KH[1] * P(1, column);
tmp += KH[2] * P(2, column);
tmp += KH[3] * P(3, column);
KHP(row, column) = tmp;
}
}
const bool healthy = checkAndFixCovarianceUpdate(KHP);
_fault_status.flags.bad_hdg = !healthy;
if (healthy) {
// apply the covariance corrections
P -= KHP;
fixCovarianceErrors(true);
// apply the state corrections
fuse(Kfusion, aid_src_status.innovation);
if (measurementUpdate(Kfusion, Hfusion, aid_src_status.innovation)) {
_time_last_heading_fuse = _imu_sample_delayed.time_us;
aid_src_status.time_last_fuse = _imu_sample_delayed.time_us;
aid_src_status.fused = true;
_fault_status.flags.bad_hdg = false;
return true;
}
// otherwise
aid_src_status.fused = false;
_fault_status.flags.bad_hdg = true;
return false;
}

19
src/modules/ekf2/EKF/vel_pos_fusion.cpp
View File

@ -200,6 +200,12 @@ bool Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int o
Kfusion(row) = P(row, state_index) / innov_var;
}
for (unsigned i = 0; i < 3; i++) {
if (_accel_bias_inhibit[i]) {
Kfusion(13 + i) = 0.0f;
}
}
SquareMatrix24f KHP;
for (unsigned row = 0; row < _k_num_states; row++) {
@ -208,18 +214,7 @@ bool Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int o
}
}
// if the covariance correction will result in a negative variance, then
// the covariance matrix 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
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
healthy = false;
}
}
const bool healthy = checkAndFixCovarianceUpdate(KHP);
setVelPosStatus(obs_index, healthy);

14
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -156,14 +156,14 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -175,7 +175,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -286,7 +286,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
156 15390000 0.705 0.00025 -0.013 0.709 0.00302 -0.000168 -0.0241 0.000544 -0.00202 -365 -1.18e-05 -6.06e-05 1.84e-06 -5.43e-06 2.99e-05 -0.00123 0.207 0.00204 0.435 0 0 0 0 0 9.25e-05 0.000185 0.000185 9e-05 0.04 0.04 0.0278 0.0466 0.0466 0.051 2.12e-09 2.12e-09 1.33e-09 3.53e-06 3.53e-06 3.68e-07 0 0 0 0 0 0 0 0
157 15490000 0.705 0.000267 -0.013 0.709 0.00428 -0.000538 -0.0241 0.00092 -0.00208 -365 -1.18e-05 -6.06e-05 1.51e-06 -5.25e-06 2.97e-05 -0.00122 0.207 0.00204 0.435 0 0 0 0 0 9.25e-05 0.00019 0.00019 8.99e-05 0.045 0.045 0.0282 0.0533 0.0533 0.0523 2.12e-09 2.12e-09 1.3e-09 3.53e-06 3.53e-06 3.57e-07 0 0 0 0 0 0 0 0
158 15590000 0.705 0.000283 -0.013 0.709 0.00241 -0.000538 -0.0227 -0.00132 -0.00172 -365 -1.2e-05 -6.05e-05 1.32e-06 -5.38e-06 3.18e-05 -0.00123 0.207 0.00204 0.435 0 0 0 0 0 9.22e-05 0.000183 0.000182 8.96e-05 0.0394 0.0394 0.027 0.0465 0.0465 0.0513 1.96e-09 1.97e-09 1.27e-09 3.5e-06 3.5e-06 3.31e-07 0 0 0 0 0 0 0 0
159 15690000 0.705 0.000285 -0.013 0.709 0.00273 -0.000698 -0.000699 -0.0231 -0.00108 -0.00176 -365 -1.2e-05 -6.05e-05 1.35e-06 -5.39e-06 3.18e-05 -0.00123 0.207 0.00204 0.435 0 0 0 0 0 9.19e-05 0.000187 0.000187 8.93e-05 0.0443 0.0443 0.027 0.0531 0.0531 0.0519 1.96e-09 1.97e-09 1.24e-09 3.5e-06 3.5e-06 3.2e-07 0 0 0 0 0 0 0 0
160 15790000 0.705 0.000245 -0.013 0.709 0.00322 -0.00237 -0.0253 -0.000974 -0.00282 -365 -1.21e-05 -6.07e-05 1.38e-06 -7.78e-06 3.21e-05 -0.00122 0.207 0.00204 0.435 0 0 0 0 0 9.15e-05 0.000179 0.000179 8.9e-05 0.0388 0.0388 0.0258 0.0463 0.0463 0.0509 1.82e-09 1.82e-09 1.21e-09 3.47e-06 3.48e-06 2.97e-07 0 0 0 0 0 0 0 0
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162 15990000 0.705 0.000139 -0.013 0.709 0.004 -0.00378 -0.0192 -0.00065 -0.00385 -365 -1.22e-05 -6.09e-05 1.93e-06 -1.1e-05 3.42e-05 -0.00124 0.207 0.00204 0.435 0 0 0 0 0 9.11e-05 0.000176 0.000176 8.86e-05 0.0383 0.0383 0.0249 0.0462 0.0462 0.051 1.67e-09 1.67e-09 1.16e-09 3.45e-06 3.45e-06 2.67e-07 0 0 0 0 0 0 0 0
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12
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
260 25790000 0.983 -0.0122 -0.0135 0.182 -0.00107 -0.0298 0.00699 0.171 -0.0923 -3.51 -1.54e-05 -5.82e-05 5.91e-06 0.00068 -0.000461 -0.00122 0.204 0.00201 0.434 0 0 0 0 0 2.04e-06 7.87e-05 7.72e-05 5.75e-05 0.0143 0.0143 0.00798 0.0387 0.0387 0.0352 4.85e-11 4.85e-11 2e-10 2.72e-06 2.74e-06 5e-08 0 0 0 0 0 0 0 0
261 25890000 0.983 -0.0123 -0.0136 0.182 -0.00674 -0.0275 0.00943 0.171 -0.0951 -3.51 -1.54e-05 -5.82e-05 5.69e-06 0.000681 -0.000461 -0.00123 0.204 0.00201 0.434 0 0 0 0 0 2.03e-06 7.89e-05 7.74e-05 5.74e-05 0.0154 0.0154 0.00807 0.0426 0.0426 0.0356 4.86e-11 4.86e-11 1.97e-10 2.72e-06 2.74e-06 5e-08 0 0 0 0 0 0 0 0
262 25990000 0.983 -0.0123 -0.0137 0.182 -0.0152 -0.0209 0.00311 0.16 -0.0857 -3.51 -1.55e-05 -5.82e-05 5.59e-06 0.000682 -0.000465 -0.00122 0.204 0.00201 0.434 0 0 0 0 0 2.02e-06 7.89e-05 7.74e-05 5.71e-05 0.0142 0.0142 0.008 0.0386 0.0386 0.0353 4.71e-11 4.71e-11 1.95e-10 2.72e-06 2.74e-06 5e-08 0 0 0 0 0 0 0 0
263 26090000 0.983 -0.012 -0.0137 0.182 -0.0203 -0.0206 0.00182 0.158 -0.0877 -3.51 -1.55e-05 -5.82e-05 5.65e-06 5.64e-06 0.000682 -0.000465 -0.00122 0.204 0.00201 0.434 0 0 0 0 0 2.01e-06 7.91e-05 7.76e-05 5.68e-05 0.0153 0.0153 0.00804 0.0424 0.0424 0.0354 4.72e-11 4.72e-11 1.92e-10 2.72e-06 2.74e-06 5e-08 0 0 0 0 0 0 0 0
264 26190000 0.983 -0.0119 -0.0142 0.182 -0.0263 -0.0141 -0.00277 0.148 -0.0807 -3.51 -1.56e-05 -5.82e-05 5.66e-06 0.000683 -0.000467 -0.00122 0.204 0.00201 0.434 0 0 0 0 0 2e-06 7.91e-05 7.75e-05 5.65e-05 0.0142 0.0142 0.00797 0.0386 0.0386 0.0351 4.58e-11 4.58e-11 1.89e-10 2.72e-06 2.74e-06 5e-08 0 0 0 0 0 0 0 0
265 26290000 0.983 -0.012 -0.0145 0.182 -0.0276 -0.0128 -0.00842 0.146 -0.0821 -3.51 -1.56e-05 -5.82e-05 5.52e-06 0.000683 -0.000468 -0.00122 0.204 0.00201 0.434 0 0 0 0 0 1.99e-06 7.93e-05 7.77e-05 5.64e-05 0.0152 0.0152 0.00806 0.0423 0.0423 0.0355 4.59e-11 4.59e-11 1.87e-10 2.72e-06 2.74e-06 5e-08 0 0 0 0 0 0 0 0
266 26390000 0.983 -0.0114 -0.0144 0.182 -0.0332 -0.00578 -0.00416 0.133 -0.0741 -3.52 -1.57e-05 -5.83e-05 5.37e-06 0.000685 -0.00047 -0.00122 0.204 0.00201 0.434 0 0 0 0 0 1.98e-06 7.93e-05 7.77e-05 5.61e-05 0.0141 0.0141 0.00799 0.0385 0.0385 0.0353 4.46e-11 4.46e-11 1.85e-10 2.72e-06 2.74e-06 5e-08 0 0 0 0 0 0 0 0
274 27190000 0.983 -0.00893 -0.0145 0.182 -0.0662 0.0358 0.00396 0.0697 -0.0452 -3.52 -1.57e-05 -5.84e-05 4.54e-06 0.000692 -0.000479 -0.00122 0.204 0.00201 0.434 0 0 0 0 0 1.9e-06 7.98e-05 7.82e-05 5.43e-05 0.0137 0.0137 0.008 0.0382 0.0382 0.0354 4.03e-11 4.03e-11 1.67e-10 2.71e-06 2.73e-06 5e-08 0 0 0 0 0 0 0 0
275 27290000 0.983 -0.00911 -0.0155 0.182 -0.0734 0.042 0.118 0.0628 -0.0413 -3.52 -1.57e-05 -5.84e-05 4.48e-06 0.000692 -0.000479 -0.00122 0.204 0.00201 0.434 0 0 0 0 0 1.89e-06 8e-05 7.84e-05 5.41e-05 0.0146 0.0146 0.00805 0.0419 0.0419 0.0355 4.04e-11 4.04e-11 1.65e-10 2.71e-06 2.73e-06 5e-08 0 0 0 0 0 0 0 0
276 27390000 0.983 -0.0105 -0.018 0.182 -0.0805 0.0485 0.441 0.0535 -0.0342 -3.5 -1.57e-05 -5.83e-05 4.41e-06 0.000693 -0.000482 -0.00121 0.204 0.00201 0.434 0 0 0 0 0 1.89e-06 7.99e-05 7.83e-05 5.38e-05 0.0133 0.0133 0.00798 0.0381 0.0381 0.0352 3.94e-11 3.94e-11 1.63e-10 2.71e-06 2.73e-06 5e-08 0 0 0 0 0 0 0 0
277 27490000 0.983 -0.0119 -0.0199 0.182 -0.0857 0.0545 0.753 0.0451 -0.029 -3.44 -1.57e-05 -5.83e-05 4.22e-06 4.21e-06 0.000693 -0.000482 -0.00121 0.204 0.00201 0.434 0 0 0 0 0 1.89e-06 8.01e-05 7.85e-05 5.35e-05 0.0141 0.0141 0.00802 0.0417 0.0417 0.0353 3.95e-11 3.95e-11 1.61e-10 2.71e-06 2.73e-06 5e-08 0 0 0 0 0 0 0 0
278 27590000 0.983 -0.0117 -0.0187 0.182 -0.0798 0.0569 0.847 0.037 -0.025 -3.38 -1.56e-05 -5.83e-05 4.16e-06 0.000695 -0.000484 -0.0012 0.204 0.00201 0.434 0 0 0 0 0 1.88e-06 8.01e-05 7.85e-05 5.34e-05 0.0131 0.0131 0.00799 0.038 0.038 0.0353 3.86e-11 3.86e-11 1.59e-10 2.71e-06 2.73e-06 5e-08 0 0 0 0 0 0 0 0
279 27690000 0.983 -0.0105 -0.0158 0.182 -0.0757 0.0533 0.75 0.0292 -0.0194 -3.3 -1.56e-05 -5.83e-05 4.12e-06 0.000696 -0.000485 -0.0012 0.204 0.00201 0.434 0 0 0 0 0 1.86e-06 8.03e-05 7.87e-05 5.32e-05 0.014 0.014 0.00803 0.0416 0.0416 0.0354 3.87e-11 3.87e-11 1.57e-10 2.71e-06 2.73e-06 5e-08 0 0 0 0 0 0 0 0
280 27790000 0.983 -0.00917 -0.0144 0.182 -0.0743 0.0508 0.744 0.0233 -0.017 -3.23 -1.55e-05 -5.82e-05 4.1e-06 0.000693 -0.000478 -0.0012 0.204 0.00201 0.434 0 0 0 0 0 1.85e-06 8.04e-05 7.87e-05 5.29e-05 0.013 0.013 0.00796 0.0379 0.0379 0.0351 3.79e-11 3.79e-11 1.55e-10 2.71e-06 2.73e-06 5e-08 0 0 0 0 0 0 0 0
318 31590000 0.983 -0.00752 -0.0171 0.182 -0.0145 0.00548 0.765 -0.0357 0.0382 -0.452 -1.33e-05 -5.68e-05 4.18e-06 0.000733 -0.000519 -0.00111 0.204 0.00201 0.434 0 0 0 0 0 1.62e-06 8.11e-05 7.94e-05 4.61e-05 0.0125 0.0125 0.00789 0.037 0.037 0.0351 2.87e-11 2.87e-11 1.04e-10 2.69e-06 2.71e-06 5e-08 0 0 0 0 0 0 0 0
319 31690000 0.983 -0.00751 -0.0176 0.182 -0.0164 0.00432 0.761 -0.0372 0.0386 -0.382 -1.33e-05 -5.68e-05 4.27e-06 0.000734 -0.00052 -0.00111 0.204 0.00201 0.434 0 0 0 0 0 1.61e-06 8.12e-05 7.96e-05 4.59e-05 0.0133 0.0133 0.00793 0.0404 0.0404 0.0352 2.88e-11 2.88e-11 1.03e-10 2.69e-06 2.71e-06 5e-08 0 0 0 0 0 0 0 0
320 31790000 0.983 -0.00773 -0.0182 0.182 -0.00743 0.00178 0.761 -0.026 0.0368 -0.31 -1.33e-05 -5.67e-05 4.32e-06 0.000739 -0.000519 -0.00111 0.204 0.00201 0.434 0 0 0 0 0 1.61e-06 8.09e-05 7.92e-05 4.58e-05 0.0125 0.0125 0.0079 0.0369 0.0369 0.0353 2.84e-11 2.84e-11 1.02e-10 2.69e-06 2.71e-06 5e-08 0 0 0 0 0 0 0 0
321 31890000 0.983 -0.00746 -0.018 0.182 -0.00397 -0.000607 -0.000606 0.759 -0.0265 0.0368 -0.242 -1.33e-05 -5.67e-05 4.36e-06 0.00074 -0.00052 -0.00111 0.204 0.00201 0.434 0 0 0 0 0 1.61e-06 8.1e-05 7.94e-05 4.56e-05 0.0133 0.0133 0.00794 0.0404 0.0404 0.0353 2.85e-11 2.85e-11 1.01e-10 2.69e-06 2.71e-06 5e-08 0 0 0 0 0 0 0 0
322 31990000 0.983 -0.00772 -0.0176 0.182 0.00378 -0.00124 0.755 -0.0149 0.0338 -0.176 -1.33e-05 -5.66e-05 4.3e-06 0.000744 -0.000521 -0.0011 0.204 0.00201 0.434 0 0 0 0 0 1.6e-06 8.07e-05 7.9e-05 4.54e-05 0.0124 0.0124 0.00787 0.0369 0.0369 0.0351 2.81e-11 2.81e-11 1e-10 2.69e-06 2.71e-06 5e-08 0 0 0 0 0 0 0 0
323 32090000 0.983 -0.00809 -0.0172 0.182 0.00341 -0.00471 0.757 -0.0145 0.0336 -0.105 -1.33e-05 -5.66e-05 4.29e-06 0.000745 -0.000521 -0.0011 0.204 0.00201 0.434 0 0 0 0 0 1.6e-06 8.08e-05 7.92e-05 4.54e-05 0.0133 0.0133 0.00795 0.0403 0.0403 0.0354 2.82e-11 2.82e-11 9.92e-11 2.69e-06 2.71e-06 5e-08 0 0 0 0 0 0 0 0
324 32190000 0.983 -0.00826 -0.0175 0.182 0.00852 -0.00786 0.757 -0.00364 0.0322 -0.0375 -1.33e-05 -5.66e-05 4.24e-06 0.000749 -0.000519 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.59e-06 8.04e-05 7.88e-05 4.52e-05 0.0124 0.0124 0.00789 0.0369 0.0369 0.0352 2.78e-11 2.78e-11 9.83e-11 2.69e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
327 32490000 0.983 -0.0111 -0.0157 0.182 0.0486 -0.0768 -0.118 0.0122 0.0223 0.109 -1.33e-05 -5.65e-05 4.18e-06 0.000753 -0.000518 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.57e-06 8.04e-05 7.88e-05 4.48e-05 0.0152 0.0153 0.00778 0.0403 0.0403 0.0353 2.76e-11 2.76e-11 9.57e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
328 32590000 0.983 -0.0111 -0.0157 0.182 0.0481 -0.0776 -0.12 0.024 0.0187 0.0902 -1.33e-05 -5.65e-05 4.25e-06 0.000753 -0.000518 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.56e-06 7.92e-05 7.76e-05 4.46e-05 0.0156 0.0157 0.00749 0.0369 0.0369 0.035 2.72e-11 2.72e-11 9.48e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
329 32690000 0.983 -0.011 -0.0155 0.182 0.044 -0.0833 -0.122 0.0287 0.0107 0.0753 -1.33e-05 -5.65e-05 4.21e-06 0.000753 -0.000518 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.56e-06 7.93e-05 7.77e-05 4.44e-05 0.0185 0.0187 0.00731 0.0406 0.0406 0.035 2.73e-11 2.73e-11 9.39e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
330 32790000 0.983 -0.0107 -0.0156 0.182 0.0415 -0.0805 -0.123 0.0379 0.00896 0.0599 -1.34e-05 -5.64e-05 4.28e-06 4.27e-06 0.000753 -0.000518 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.55e-06 7.67e-05 7.52e-05 4.43e-05 0.0193 0.0195 0.00708 0.0372 0.0372 0.035 2.69e-11 2.69e-11 9.32e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
331 32890000 0.983 -0.0107 -0.0156 0.182 0.0413 -0.0865 -0.125 0.0421 0.000592 0.000593 0.0446 -1.34e-05 -5.64e-05 4.29e-06 0.000753 -0.000518 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.55e-06 7.69e-05 7.53e-05 4.42e-05 0.0231 0.0234 0.00692 0.041 0.041 0.035 2.7e-11 2.7e-11 9.24e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
332 32990000 0.983 -0.0104 -0.0156 0.182 0.0375 -0.0821 -0.123 0.0493 -0.00241 -0.0024 0.0318 -1.35e-05 -5.64e-05 4.36e-06 0.000753 -0.000518 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.54e-06 7.26e-05 7.12e-05 4.4e-05 0.0238 0.0241 0.00668 0.0376 0.0376 0.0346 2.66e-11 2.66e-11 9.15e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
333 33090000 0.983 -0.0103 -0.0155 0.182 0.0334 -0.0859 -0.12 0.0529 -0.0108 0.0247 -1.35e-05 -5.64e-05 4.32e-06 0.000753 -0.000518 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.54e-06 7.27e-05 7.14e-05 4.39e-05 0.0283 0.0288 0.00657 0.0417 0.0418 0.0348 2.67e-11 2.67e-11 9.08e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
334 33190000 0.983 -0.01 -0.0154 0.182 0.0281 -0.0811 -0.119 0.0581 -0.0124 0.0186 -1.36e-05 -5.64e-05 4.26e-06 0.000753 -0.000522 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.53e-06 6.7e-05 6.58e-05 4.38e-05 0.0288 0.0293 0.00637 0.0382 0.0382 0.0345 2.63e-11 2.63e-11 9e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0
335 33290000 0.983 -0.0101 -0.0154 0.182 0.0248 -0.0824 -0.118 0.0608 -0.0206 0.0112 -1.36e-05 -5.64e-05 4.34e-06 0.000753 -0.000522 -0.00109 0.204 0.00201 0.434 0 0 0 0 0 1.53e-06 6.71e-05 6.59e-05 4.36e-05 0.0347 0.0353 0.00626 0.0427 0.0428 0.0343 2.64e-11 2.64e-11 8.92e-11 2.68e-06 2.7e-06 5e-08 0 0 0 0 0 0 0 0