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Make Kfusion a Vector24f

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kamilritz
2020-07-02 09:02:24 +02:00
committed by Mathieu Bresciani
parent 356b2f6ffe
commit 16a00eae0b
11 changed files with 619 additions and 646 deletions
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EKF/sideslip_fusion.cpp
+34 -35
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@@ -49,7 +49,7 @@ void Ekf::fuseSideslip()
float SH_BETA[13] = {}; // Variable used to optimise calculations of measurement jacobian
float H_BETA[24] = {}; // Observation Jacobian
float SK_BETA[8] = {}; // Variable used to optimise calculations of the Kalman gain vector
float Kfusion[24] = {}; // Kalman gain vector
Vector24f Kfusion; // Kalman gain vector
float R_BETA = _params.beta_noise;
// get latest estimated orientation
@@ -149,38 +149,37 @@ void Ekf::fuseSideslip()
// Calculate Kalman gains
if (!update_wind_only) {
Kfusion[0] = SK_BETA[0]*(P(0,0)*SK_BETA[5] + P(0,1)*SK_BETA[4] - P(0,4)*SK_BETA[1] + P(0,5)*SK_BETA[2] + P(0,2)*SK_BETA[6] + P(0,6)*SK_BETA[3] - P(0,3)*SK_BETA[7] + P(0,22)*SK_BETA[1] - P(0,23)*SK_BETA[2]);
Kfusion[1] = SK_BETA[0]*(P(1,0)*SK_BETA[5] + P(1,1)*SK_BETA[4] - P(1,4)*SK_BETA[1] + P(1,5)*SK_BETA[2] + P(1,2)*SK_BETA[6] + P(1,6)*SK_BETA[3] - P(1,3)*SK_BETA[7] + P(1,22)*SK_BETA[1] - P(1,23)*SK_BETA[2]);
Kfusion[2] = SK_BETA[0]*(P(2,0)*SK_BETA[5] + P(2,1)*SK_BETA[4] - P(2,4)*SK_BETA[1] + P(2,5)*SK_BETA[2] + P(2,2)*SK_BETA[6] + P(2,6)*SK_BETA[3] - P(2,3)*SK_BETA[7] + P(2,22)*SK_BETA[1] - P(2,23)*SK_BETA[2]);
Kfusion[3] = SK_BETA[0]*(P(3,0)*SK_BETA[5] + P(3,1)*SK_BETA[4] - P(3,4)*SK_BETA[1] + P(3,5)*SK_BETA[2] + P(3,2)*SK_BETA[6] + P(3,6)*SK_BETA[3] - P(3,3)*SK_BETA[7] + P(3,22)*SK_BETA[1] - P(3,23)*SK_BETA[2]);
Kfusion[4] = SK_BETA[0]*(P(4,0)*SK_BETA[5] + P(4,1)*SK_BETA[4] - P(4,4)*SK_BETA[1] + P(4,5)*SK_BETA[2] + P(4,2)*SK_BETA[6] + P(4,6)*SK_BETA[3] - P(4,3)*SK_BETA[7] + P(4,22)*SK_BETA[1] - P(4,23)*SK_BETA[2]);
Kfusion[5] = SK_BETA[0]*(P(5,0)*SK_BETA[5] + P(5,1)*SK_BETA[4] - P(5,4)*SK_BETA[1] + P(5,5)*SK_BETA[2] + P(5,2)*SK_BETA[6] + P(5,6)*SK_BETA[3] - P(5,3)*SK_BETA[7] + P(5,22)*SK_BETA[1] - P(5,23)*SK_BETA[2]);
Kfusion[6] = SK_BETA[0]*(P(6,0)*SK_BETA[5] + P(6,1)*SK_BETA[4] - P(6,4)*SK_BETA[1] + P(6,5)*SK_BETA[2] + P(6,2)*SK_BETA[6] + P(6,6)*SK_BETA[3] - P(6,3)*SK_BETA[7] + P(6,22)*SK_BETA[1] - P(6,23)*SK_BETA[2]);
Kfusion[7] = SK_BETA[0]*(P(7,0)*SK_BETA[5] + P(7,1)*SK_BETA[4] - P(7,4)*SK_BETA[1] + P(7,5)*SK_BETA[2] + P(7,2)*SK_BETA[6] + P(7,6)*SK_BETA[3] - P(7,3)*SK_BETA[7] + P(7,22)*SK_BETA[1] - P(7,23)*SK_BETA[2]);
Kfusion[8] = SK_BETA[0]*(P(8,0)*SK_BETA[5] + P(8,1)*SK_BETA[4] - P(8,4)*SK_BETA[1] + P(8,5)*SK_BETA[2] + P(8,2)*SK_BETA[6] + P(8,6)*SK_BETA[3] - P(8,3)*SK_BETA[7] + P(8,22)*SK_BETA[1] - P(8,23)*SK_BETA[2]);
Kfusion[9] = SK_BETA[0]*(P(9,0)*SK_BETA[5] + P(9,1)*SK_BETA[4] - P(9,4)*SK_BETA[1] + P(9,5)*SK_BETA[2] + P(9,2)*SK_BETA[6] + P(9,6)*SK_BETA[3] - P(9,3)*SK_BETA[7] + P(9,22)*SK_BETA[1] - P(9,23)*SK_BETA[2]);
Kfusion[10] = SK_BETA[0]*(P(10,0)*SK_BETA[5] + P(10,1)*SK_BETA[4] - P(10,4)*SK_BETA[1] + P(10,5)*SK_BETA[2] + P(10,2)*SK_BETA[6] + P(10,6)*SK_BETA[3] - P(10,3)*SK_BETA[7] + P(10,22)*SK_BETA[1] - P(10,23)*SK_BETA[2]);
Kfusion[11] = SK_BETA[0]*(P(11,0)*SK_BETA[5] + P(11,1)*SK_BETA[4] - P(11,4)*SK_BETA[1] + P(11,5)*SK_BETA[2] + P(11,2)*SK_BETA[6] + P(11,6)*SK_BETA[3] - P(11,3)*SK_BETA[7] + P(11,22)*SK_BETA[1] - P(11,23)*SK_BETA[2]);
Kfusion[12] = SK_BETA[0]*(P(12,0)*SK_BETA[5] + P(12,1)*SK_BETA[4] - P(12,4)*SK_BETA[1] + P(12,5)*SK_BETA[2] + P(12,2)*SK_BETA[6] + P(12,6)*SK_BETA[3] - P(12,3)*SK_BETA[7] + P(12,22)*SK_BETA[1] - P(12,23)*SK_BETA[2]);
Kfusion[13] = SK_BETA[0]*(P(13,0)*SK_BETA[5] + P(13,1)*SK_BETA[4] - P(13,4)*SK_BETA[1] + P(13,5)*SK_BETA[2] + P(13,2)*SK_BETA[6] + P(13,6)*SK_BETA[3] - P(13,3)*SK_BETA[7] + P(13,22)*SK_BETA[1] - P(13,23)*SK_BETA[2]);
Kfusion[14] = SK_BETA[0]*(P(14,0)*SK_BETA[5] + P(14,1)*SK_BETA[4] - P(14,4)*SK_BETA[1] + P(14,5)*SK_BETA[2] + P(14,2)*SK_BETA[6] + P(14,6)*SK_BETA[3] - P(14,3)*SK_BETA[7] + P(14,22)*SK_BETA[1] - P(14,23)*SK_BETA[2]);
Kfusion[15] = SK_BETA[0]*(P(15,0)*SK_BETA[5] + P(15,1)*SK_BETA[4] - P(15,4)*SK_BETA[1] + P(15,5)*SK_BETA[2] + P(15,2)*SK_BETA[6] + P(15,6)*SK_BETA[3] - P(15,3)*SK_BETA[7] + P(15,22)*SK_BETA[1] - P(15,23)*SK_BETA[2]);
Kfusion(0) = SK_BETA[0]*(P(0,0)*SK_BETA[5] + P(0,1)*SK_BETA[4] - P(0,4)*SK_BETA[1] + P(0,5)*SK_BETA[2] + P(0,2)*SK_BETA[6] + P(0,6)*SK_BETA[3] - P(0,3)*SK_BETA[7] + P(0,22)*SK_BETA[1] - P(0,23)*SK_BETA[2]);
Kfusion(1) = SK_BETA[0]*(P(1,0)*SK_BETA[5] + P(1,1)*SK_BETA[4] - P(1,4)*SK_BETA[1] + P(1,5)*SK_BETA[2] + P(1,2)*SK_BETA[6] + P(1,6)*SK_BETA[3] - P(1,3)*SK_BETA[7] + P(1,22)*SK_BETA[1] - P(1,23)*SK_BETA[2]);
Kfusion(2) = SK_BETA[0]*(P(2,0)*SK_BETA[5] + P(2,1)*SK_BETA[4] - P(2,4)*SK_BETA[1] + P(2,5)*SK_BETA[2] + P(2,2)*SK_BETA[6] + P(2,6)*SK_BETA[3] - P(2,3)*SK_BETA[7] + P(2,22)*SK_BETA[1] - P(2,23)*SK_BETA[2]);
Kfusion(3) = SK_BETA[0]*(P(3,0)*SK_BETA[5] + P(3,1)*SK_BETA[4] - P(3,4)*SK_BETA[1] + P(3,5)*SK_BETA[2] + P(3,2)*SK_BETA[6] + P(3,6)*SK_BETA[3] - P(3,3)*SK_BETA[7] + P(3,22)*SK_BETA[1] - P(3,23)*SK_BETA[2]);
Kfusion(4) = SK_BETA[0]*(P(4,0)*SK_BETA[5] + P(4,1)*SK_BETA[4] - P(4,4)*SK_BETA[1] + P(4,5)*SK_BETA[2] + P(4,2)*SK_BETA[6] + P(4,6)*SK_BETA[3] - P(4,3)*SK_BETA[7] + P(4,22)*SK_BETA[1] - P(4,23)*SK_BETA[2]);
Kfusion(5) = SK_BETA[0]*(P(5,0)*SK_BETA[5] + P(5,1)*SK_BETA[4] - P(5,4)*SK_BETA[1] + P(5,5)*SK_BETA[2] + P(5,2)*SK_BETA[6] + P(5,6)*SK_BETA[3] - P(5,3)*SK_BETA[7] + P(5,22)*SK_BETA[1] - P(5,23)*SK_BETA[2]);
Kfusion(6) = SK_BETA[0]*(P(6,0)*SK_BETA[5] + P(6,1)*SK_BETA[4] - P(6,4)*SK_BETA[1] + P(6,5)*SK_BETA[2] + P(6,2)*SK_BETA[6] + P(6,6)*SK_BETA[3] - P(6,3)*SK_BETA[7] + P(6,22)*SK_BETA[1] - P(6,23)*SK_BETA[2]);
Kfusion(7) = SK_BETA[0]*(P(7,0)*SK_BETA[5] + P(7,1)*SK_BETA[4] - P(7,4)*SK_BETA[1] + P(7,5)*SK_BETA[2] + P(7,2)*SK_BETA[6] + P(7,6)*SK_BETA[3] - P(7,3)*SK_BETA[7] + P(7,22)*SK_BETA[1] - P(7,23)*SK_BETA[2]);
Kfusion(8) = SK_BETA[0]*(P(8,0)*SK_BETA[5] + P(8,1)*SK_BETA[4] - P(8,4)*SK_BETA[1] + P(8,5)*SK_BETA[2] + P(8,2)*SK_BETA[6] + P(8,6)*SK_BETA[3] - P(8,3)*SK_BETA[7] + P(8,22)*SK_BETA[1] - P(8,23)*SK_BETA[2]);
Kfusion(9) = SK_BETA[0]*(P(9,0)*SK_BETA[5] + P(9,1)*SK_BETA[4] - P(9,4)*SK_BETA[1] + P(9,5)*SK_BETA[2] + P(9,2)*SK_BETA[6] + P(9,6)*SK_BETA[3] - P(9,3)*SK_BETA[7] + P(9,22)*SK_BETA[1] - P(9,23)*SK_BETA[2]);
Kfusion(10) = SK_BETA[0]*(P(10,0)*SK_BETA[5] + P(10,1)*SK_BETA[4] - P(10,4)*SK_BETA[1] + P(10,5)*SK_BETA[2] + P(10,2)*SK_BETA[6] + P(10,6)*SK_BETA[3] - P(10,3)*SK_BETA[7] + P(10,22)*SK_BETA[1] - P(10,23)*SK_BETA[2]);
Kfusion(11) = SK_BETA[0]*(P(11,0)*SK_BETA[5] + P(11,1)*SK_BETA[4] - P(11,4)*SK_BETA[1] + P(11,5)*SK_BETA[2] + P(11,2)*SK_BETA[6] + P(11,6)*SK_BETA[3] - P(11,3)*SK_BETA[7] + P(11,22)*SK_BETA[1] - P(11,23)*SK_BETA[2]);
Kfusion(12) = SK_BETA[0]*(P(12,0)*SK_BETA[5] + P(12,1)*SK_BETA[4] - P(12,4)*SK_BETA[1] + P(12,5)*SK_BETA[2] + P(12,2)*SK_BETA[6] + P(12,6)*SK_BETA[3] - P(12,3)*SK_BETA[7] + P(12,22)*SK_BETA[1] - P(12,23)*SK_BETA[2]);
Kfusion(13) = SK_BETA[0]*(P(13,0)*SK_BETA[5] + P(13,1)*SK_BETA[4] - P(13,4)*SK_BETA[1] + P(13,5)*SK_BETA[2] + P(13,2)*SK_BETA[6] + P(13,6)*SK_BETA[3] - P(13,3)*SK_BETA[7] + P(13,22)*SK_BETA[1] - P(13,23)*SK_BETA[2]);
Kfusion(14) = SK_BETA[0]*(P(14,0)*SK_BETA[5] + P(14,1)*SK_BETA[4] - P(14,4)*SK_BETA[1] + P(14,5)*SK_BETA[2] + P(14,2)*SK_BETA[6] + P(14,6)*SK_BETA[3] - P(14,3)*SK_BETA[7] + P(14,22)*SK_BETA[1] - P(14,23)*SK_BETA[2]);
Kfusion(15) = SK_BETA[0]*(P(15,0)*SK_BETA[5] + P(15,1)*SK_BETA[4] - P(15,4)*SK_BETA[1] + P(15,5)*SK_BETA[2] + P(15,2)*SK_BETA[6] + P(15,6)*SK_BETA[3] - P(15,3)*SK_BETA[7] + P(15,22)*SK_BETA[1] - P(15,23)*SK_BETA[2]);
// Only update the magnetometer states if we are airborne and using 3D mag fusion
if (_control_status.flags.mag_3D && _control_status.flags.in_air) {
Kfusion[16] = SK_BETA[0]*(P(16,0)*SK_BETA[5] + P(16,1)*SK_BETA[4] - P(16,4)*SK_BETA[1] + P(16,5)*SK_BETA[2] + P(16,2)*SK_BETA[6] + P(16,6)*SK_BETA[3] - P(16,3)*SK_BETA[7] + P(16,22)*SK_BETA[1] - P(16,23)*SK_BETA[2]);
Kfusion[17] = SK_BETA[0]*(P(17,0)*SK_BETA[5] + P(17,1)*SK_BETA[4] - P(17,4)*SK_BETA[1] + P(17,5)*SK_BETA[2] + P(17,2)*SK_BETA[6] + P(17,6)*SK_BETA[3] - P(17,3)*SK_BETA[7] + P(17,22)*SK_BETA[1] - P(17,23)*SK_BETA[2]);
Kfusion[18] = SK_BETA[0]*(P(18,0)*SK_BETA[5] + P(18,1)*SK_BETA[4] - P(18,4)*SK_BETA[1] + P(18,5)*SK_BETA[2] + P(18,2)*SK_BETA[6] + P(18,6)*SK_BETA[3] - P(18,3)*SK_BETA[7] + P(18,22)*SK_BETA[1] - P(18,23)*SK_BETA[2]);
Kfusion[19] = SK_BETA[0]*(P(19,0)*SK_BETA[5] + P(19,1)*SK_BETA[4] - P(19,4)*SK_BETA[1] + P(19,5)*SK_BETA[2] + P(19,2)*SK_BETA[6] + P(19,6)*SK_BETA[3] - P(19,3)*SK_BETA[7] + P(19,22)*SK_BETA[1] - P(19,23)*SK_BETA[2]);
Kfusion[20] = SK_BETA[0]*(P(20,0)*SK_BETA[5] + P(20,1)*SK_BETA[4] - P(20,4)*SK_BETA[1] + P(20,5)*SK_BETA[2] + P(20,2)*SK_BETA[6] + P(20,6)*SK_BETA[3] - P(20,3)*SK_BETA[7] + P(20,22)*SK_BETA[1] - P(20,23)*SK_BETA[2]);
Kfusion[21] = SK_BETA[0]*(P(21,0)*SK_BETA[5] + P(21,1)*SK_BETA[4] - P(21,4)*SK_BETA[1] + P(21,5)*SK_BETA[2] + P(21,2)*SK_BETA[6] + P(21,6)*SK_BETA[3] - P(21,3)*SK_BETA[7] + P(21,22)*SK_BETA[1] - P(21,23)*SK_BETA[2]);
Kfusion(16) = SK_BETA[0]*(P(16,0)*SK_BETA[5] + P(16,1)*SK_BETA[4] - P(16,4)*SK_BETA[1] + P(16,5)*SK_BETA[2] + P(16,2)*SK_BETA[6] + P(16,6)*SK_BETA[3] - P(16,3)*SK_BETA[7] + P(16,22)*SK_BETA[1] - P(16,23)*SK_BETA[2]);
Kfusion(17) = SK_BETA[0]*(P(17,0)*SK_BETA[5] + P(17,1)*SK_BETA[4] - P(17,4)*SK_BETA[1] + P(17,5)*SK_BETA[2] + P(17,2)*SK_BETA[6] + P(17,6)*SK_BETA[3] - P(17,3)*SK_BETA[7] + P(17,22)*SK_BETA[1] - P(17,23)*SK_BETA[2]);
Kfusion(18) = SK_BETA[0]*(P(18,0)*SK_BETA[5] + P(18,1)*SK_BETA[4] - P(18,4)*SK_BETA[1] + P(18,5)*SK_BETA[2] + P(18,2)*SK_BETA[6] + P(18,6)*SK_BETA[3] - P(18,3)*SK_BETA[7] + P(18,22)*SK_BETA[1] - P(18,23)*SK_BETA[2]);
Kfusion(19) = SK_BETA[0]*(P(19,0)*SK_BETA[5] + P(19,1)*SK_BETA[4] - P(19,4)*SK_BETA[1] + P(19,5)*SK_BETA[2] + P(19,2)*SK_BETA[6] + P(19,6)*SK_BETA[3] - P(19,3)*SK_BETA[7] + P(19,22)*SK_BETA[1] - P(19,23)*SK_BETA[2]);
Kfusion(20) = SK_BETA[0]*(P(20,0)*SK_BETA[5] + P(20,1)*SK_BETA[4] - P(20,4)*SK_BETA[1] + P(20,5)*SK_BETA[2] + P(20,2)*SK_BETA[6] + P(20,6)*SK_BETA[3] - P(20,3)*SK_BETA[7] + P(20,22)*SK_BETA[1] - P(20,23)*SK_BETA[2]);
Kfusion(21) = SK_BETA[0]*(P(21,0)*SK_BETA[5] + P(21,1)*SK_BETA[4] - P(21,4)*SK_BETA[1] + P(21,5)*SK_BETA[2] + P(21,2)*SK_BETA[6] + P(21,6)*SK_BETA[3] - P(21,3)*SK_BETA[7] + P(21,22)*SK_BETA[1] - P(21,23)*SK_BETA[2]);
}
}
Kfusion[22] = SK_BETA[0]*(P(22,0)*SK_BETA[5] + P(22,1)*SK_BETA[4] - P(22,4)*SK_BETA[1] + P(22,5)*SK_BETA[2] + P(22,2)*SK_BETA[6] + P(22,6)*SK_BETA[3] - P(22,3)*SK_BETA[7] + P(22,22)*SK_BETA[1] - P(22,23)*SK_BETA[2]);
Kfusion[23] = SK_BETA[0]*(P(23,0)*SK_BETA[5] + P(23,1)*SK_BETA[4] - P(23,4)*SK_BETA[1] + P(23,5)*SK_BETA[2] + P(23,2)*SK_BETA[6] + P(23,6)*SK_BETA[3] - P(23,3)*SK_BETA[7] + P(23,22)*SK_BETA[1] - P(23,23)*SK_BETA[2]);
Kfusion(22) = SK_BETA[0]*(P(22,0)*SK_BETA[5] + P(22,1)*SK_BETA[4] - P(22,4)*SK_BETA[1] + P(22,5)*SK_BETA[2] + P(22,2)*SK_BETA[6] + P(22,6)*SK_BETA[3] - P(22,3)*SK_BETA[7] + P(22,22)*SK_BETA[1] - P(22,23)*SK_BETA[2]);
Kfusion(23) = SK_BETA[0]*(P(23,0)*SK_BETA[5] + P(23,1)*SK_BETA[4] - P(23,4)*SK_BETA[1] + P(23,5)*SK_BETA[2] + P(23,2)*SK_BETA[6] + P(23,6)*SK_BETA[3] - P(23,3)*SK_BETA[7] + P(23,22)*SK_BETA[1] - P(23,23)*SK_BETA[2]);
// Calculate predicted sideslip angle and innovation using small angle approximation
_beta_innov = rel_wind_body(1) / rel_wind_body(0);
@@ -207,15 +206,15 @@ void Ekf::fuseSideslip()
float KH[9];
for (unsigned row = 0; row < _k_num_states; row++) {
KH[0] = Kfusion[row] * H_BETA[0];
KH[1] = Kfusion[row] * H_BETA[1];
KH[2] = Kfusion[row] * H_BETA[2];
KH[3] = Kfusion[row] * H_BETA[3];
KH[4] = Kfusion[row] * H_BETA[4];
KH[5] = Kfusion[row] * H_BETA[5];
KH[6] = Kfusion[row] * H_BETA[6];
KH[7] = Kfusion[row] * H_BETA[22];
KH[8] = Kfusion[row] * H_BETA[23];
KH[0] = Kfusion(row) * H_BETA[0];
KH[1] = Kfusion(row) * H_BETA[1];
KH[2] = Kfusion(row) * H_BETA[2];
KH[3] = Kfusion(row) * H_BETA[3];
KH[4] = Kfusion(row) * H_BETA[4];
KH[5] = Kfusion(row) * H_BETA[5];
KH[6] = Kfusion(row) * H_BETA[6];
KH[7] = Kfusion(row) * H_BETA[22];
KH[8] = Kfusion(row) * H_BETA[23];
for (unsigned column = 0; column < _k_num_states; column++) {
float tmp = KH[0] * P(0,column);