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EKF: do not fuse multiple times the same height (#767)

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* EKF: do not fuse multiple times the same height

The _fuse_height flag was never set to zero, hence the fusion was called
at each iteration, even if no new data is available.
The effects were: high CPU usage and virtually less measurement noise
due to multiple fusion of the same sample

Also remve unused variables
This commit is contained in:
Mathieu Bresciani
2020-03-04 10:31:22 +01:00
committed by GitHub
parent b4ecfb7723
commit 230c865fa9
5 changed files with 368 additions and 377 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/control.cpp
+17 -20
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
* Copyright (c) 2015-2020 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -284,7 +284,6 @@ void Ekf::controlExternalVisionFusion()
if (_fuse_hpos_as_odom) {
if (!_hpos_prev_available) {
// no previous observation available to calculate position change
_fuse_pos = false;
_hpos_prev_available = true;
} else {
@@ -928,10 +927,11 @@ void Ekf::controlHeightSensorTimeouts()
void Ekf::controlHeightFusion()
{
checkRangeAidSuitability();
_range_aid_mode_selected = (_params.range_aid == 1) && isRangeAidSuitable();
bool fuse_height = false;
switch (_params.vdist_sensor_type) {
default:
ECL_ERR("Invalid height mode: %d", _params.vdist_sensor_type);
@@ -940,7 +940,7 @@ void Ekf::controlHeightFusion()
case VDIST_SENSOR_BARO:
if (_range_aid_mode_selected && _range_data_ready && _rng_hgt_valid) {
setControlRangeHeight();
_fuse_height = true;
fuse_height = true;
// we have just switched to using range finder, calculate height sensor offset such that current
// measurement matches our current height estimate
@@ -955,7 +955,7 @@ void Ekf::controlHeightFusion()
} else if (!_range_aid_mode_selected && _baro_data_ready && !_baro_hgt_faulty) {
setControlBaroHeight();
_fuse_height = true;
fuse_height = true;
// we have just switched to using baro height, we don't need to set a height sensor offset
// since we track a separate _baro_hgt_offset
@@ -973,7 +973,7 @@ void Ekf::controlHeightFusion()
} else if (_control_status.flags.gps_hgt && _gps_data_ready && !_gps_hgt_intermittent) {
// switch to gps if there was a reset to gps
_fuse_height = true;
fuse_height = true;
// we have just switched to using gps height, calculate height sensor offset such that current
// measurement matches our current height estimate
@@ -987,7 +987,7 @@ void Ekf::controlHeightFusion()
case VDIST_SENSOR_RANGE:
if (_range_data_ready && _rng_hgt_valid) {
setControlRangeHeight();
_fuse_height = _range_data_ready;
fuse_height = _range_data_ready;
} else if (_control_status_prev.flags.rng_hgt != _control_status.flags.rng_hgt) {
// we have just switched to using range finder, calculate height sensor offset such that current
@@ -1005,7 +1005,7 @@ void Ekf::controlHeightFusion()
} else if (_baro_data_ready && !_baro_hgt_faulty) {
setControlBaroHeight();
_fuse_height = true;
fuse_height = true;
// we have just switched to using baro height, we don't need to set a height sensor offset
// since we track a separate _baro_hgt_offset
@@ -1021,7 +1021,7 @@ void Ekf::controlHeightFusion()
// Determine if GPS should be used as the height source
if (_range_aid_mode_selected && _range_data_ready && _rng_hgt_valid) {
setControlRangeHeight();
_fuse_height = true;
fuse_height = true;
// we have just switched to using range finder, calculate height sensor offset such that current
// measurement matches our current height estimate
@@ -1036,7 +1036,7 @@ void Ekf::controlHeightFusion()
} else if (!_range_aid_mode_selected && _gps_data_ready && !_gps_hgt_intermittent && _gps_checks_passed) {
setControlGPSHeight();
_fuse_height = true;
fuse_height = true;
// we have just switched to using gps height, calculate height sensor offset such that current
// measurement matches our current height estimate
@@ -1046,7 +1046,7 @@ void Ekf::controlHeightFusion()
} else if (_control_status.flags.baro_hgt && _baro_data_ready && !_baro_hgt_faulty) {
// switch to baro if there was a reset to baro
_fuse_height = true;
fuse_height = true;
// we have just switched to using baro height, we don't need to set a height sensor offset
// since we track a separate _baro_hgt_offset
@@ -1061,14 +1061,14 @@ void Ekf::controlHeightFusion()
// don't start using EV data unless data is arriving frequently
if (!_control_status.flags.ev_hgt && isRecent(_time_last_ext_vision, 2 * EV_MAX_INTERVAL)) {
_fuse_height = true;
fuse_height = true;
setControlEVHeight();
resetHeight();
}
if (_control_status.flags.baro_hgt && _baro_data_ready && !_baro_hgt_faulty) {
// switch to baro if there was a reset to baro
_fuse_height = true;
fuse_height = true;
// we have just switched to using baro height, we don't need to set a height sensor offset
// since we track a separate _baro_hgt_offset
@@ -1079,7 +1079,7 @@ void Ekf::controlHeightFusion()
// determine if we should use the vertical position observation
if (_control_status.flags.ev_hgt) {
_fuse_height = true;
fuse_height = true;
}
break;
@@ -1107,11 +1107,10 @@ void Ekf::controlHeightFusion()
}
_fuse_height = true;
fuse_height = true;
}
if (_fuse_height) {
if (fuse_height) {
if (_control_status.flags.baro_hgt) {
Vector2f baro_hgt_innov_gate;
Vector3f baro_hgt_obs_var;
@@ -1186,9 +1185,7 @@ void Ekf::controlHeightFusion()
fuseVerticalPosition(_ev_pos_innov,ev_hgt_innov_gate,
ev_hgt_obs_var, _ev_pos_innov_var,_ev_pos_test_ratio);
}
}
}
void Ekf::checkRangeAidSuitability()
@@ -1331,7 +1328,7 @@ void Ekf::controlFakePosFusion()
_using_synthetic_position = true;
// Fuse synthetic position observations every 200msec
if (isTimedOut(_time_last_fake_pos, (uint64_t)2e5) || _fuse_height) {
if (isTimedOut(_time_last_fake_pos, (uint64_t)2e5)) {
Vector3f fake_pos_obs_var;
Vector2f fake_pos_innov_gate;
EKF/ekf.h
-6
View File
@@ -308,12 +308,6 @@ private:
bool _filter_initialised{false}; ///< true when the EKF sttes and covariances been initialised
bool _fuse_height{false}; ///< true when baro height data should be fused
bool _fuse_pos{false}; ///< true when gps position data should be fused
bool _fuse_hor_vel{false}; ///< true when gps horizontal velocity measurement should be fused
bool _fuse_vert_vel{false}; ///< true when gps vertical velocity measurement should be fused
bool _fuse_hor_vel_aux{false}; ///< true when auxiliary horizontal velocity measurement should be fused
// variables used when position data is being fused using a relative position odometry model
bool _fuse_hpos_as_odom{false}; ///< true when the NE position data is being fused using an odometry assumption
Vector3f _pos_meas_prev; ///< previous value of NED position measurement fused using odometry assumption (m)
EKF/vel_pos_fusion.cpp
+1 -1
View File
@@ -139,7 +139,7 @@ bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate
// Helper function that fuses a single velocity or position measurement
void Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int obs_index) {
float Kfusion[24] = {}; // Kalman gain vector for any single observation - sequential fusion is used.
float Kfusion[24]; // Kalman gain vector for any single observation - sequential fusion is used.
const unsigned state_index = obs_index + 4; // we start with vx and this is the 4. state
// calculate kalman gain K = PHS, where S = 1/innovation variance
test/change_indication/iris_gps.csv
+345 -345
View File
@@ -4,348 +4,348 @@ 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]
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348 34592000 0.983334 0.983022 -0.00720435 -0.00658935 -0.0117384 -0.0118785 0.181289 0.182987 -0.00434716 -0.00378299 -0.0202427 -0.017963 0.796824 0.812835 0.0802868 0.0810424 -0.0143116 -0.0104868 0.0560387 0.0894353 -1.13547e-05 -1.17326e-05 -4.53273e-05 -4.50674e-05 1.72664e-06 6.82209e-07 -3.20565e-05 1.78262e-07 -0.000112623 -3.0956e-05 -0.000803939 -0.000828557 0.204042 0.203935 0.000817565 0.000817121 0.434436 0.434565 0 0 0 0 0 3.84162e-06 3.89842e-06 1.72226e-05 1.80899e-05 1.72139e-05 1.80813e-05 0.000111267 0.000110653 0.030919 0.0318375 0.0309194 0.0318386 0.00578663 0.00795295 0.0423375 0.0426362 0.0423369 0.0426354 0.022873 0.0568341 2.57209e-11 2.75179e-11 2.57085e-11 2.74966e-11 4.47523e-10 4.45032e-10 5.06832e-07 5.46799e-07 5.06677e-07 5.46653e-07 5e-08 5.00008e-08 0 0 0 0 0 0 0 0
349 34688000 0.983336 0.983025 -0.00718817 -0.00657239 -0.0114593 -0.0115999 0.181292 0.182989 -0.00479021 -0.00420102 -0.0186607 -0.0174998 1.7445 1.76169 0.0798275 0.0806538 -0.0161244 -0.012169 0.168536 0.203656 -1.13547e-05 -1.17327e-05 -4.53267e-05 -4.50673e-05 1.70927e-06 6.73964e-07 -3.15053e-05 4.33585e-07 -0.000113004 -3.11196e-05 -0.000801557 -0.000827589 0.204042 0.203935 0.000817565 0.000817121 0.434436 0.434565 0 0 0 0 0 3.83327e-06 3.88991e-06 1.73364e-05 1.82048e-05 1.73287e-05 1.81971e-05 0.00011103 0.000110423 0.0324794 0.0334864 0.0324802 0.0334881 0.00591668 0.00805708 0.0476503 0.04805 0.0476496 0.0480492 0.022857 0.0565376 2.57679e-11 2.75649e-11 2.57558e-11 2.75441e-11 4.42338e-10 4.39927e-10 5.06832e-07 5.46801e-07 5.06679e-07 5.46657e-07 5e-08 5.00004e-08 0 0 0 0 0 0 0 0
350 34792000 0.983342 0.983031 -0.00712548 -0.00651671 -0.0112127 -0.0113535 0.181279 0.182973 -0.0043325 -0.00384246 -0.0125508 -0.0131026 2.74794 2.76151 0.0819499 0.0826855 -0.0126614 -0.00946103 0.35447 0.3724 -1.1361e-05 -1.17385e-05 -4.53001e-05 -4.50426e-05 1.75855e-06 7.10082e-07 -2.726e-05 5.06645e-06 -0.00012376 -4.13876e-05 -0.000763992 -0.000792797 0.204042 0.203935 0.000817565 0.000817121 0.434436 0.434565 0 0 0 0 0 3.83026e-06 3.8868e-06 1.63857e-05 1.72168e-05 1.63779e-05 1.7209e-05 0.000110958 0.000110356 0.0280122 0.0288117 0.0280134 0.0288137 0.00600487 0.00808908 0.0426808 0.0429655 0.0426802 0.0429649 0.0227402 0.056098 2.5597e-11 2.73898e-11 2.55848e-11 2.73687e-11 4.37192e-10 4.34861e-10 4.90093e-07 5.28096e-07 4.89956e-07 5.27964e-07 5e-08 5.00004e-08 0 0 0 0 0 0 0 0
351 34888000 0.983346 0.983034 -0.00710629 -0.00649894 -0.0109387 -0.0110772 0.181277 0.182972 -0.00512516 -0.00443789 -0.0106519 -0.012478 3.68548 3.70407 0.0813879 0.0822563 -0.0135656 -0.0106193 0.627391 0.651733 -1.13588e-05 -1.1738e-05 -4.52986e-05 -4.50423e-05 1.76263e-06 7.09197e-07 -2.48728e-05 6.05765e-06 -0.000125399 -4.20168e-05 -0.000753397 -0.000788914 0.204042 0.203935 0.000817565 0.000817121 0.434436 0.434565 0 0 0 0 0 3.82161e-06 3.87801e-06 1.64977e-05 1.73301e-05 1.64908e-05 1.7323e-05 0.000110713 0.000110118 0.0296475 0.0305401 0.0296491 0.0305427 0.00615025 0.00821755 0.0477882 0.0481625 0.0477876 0.0481619 0.0227579 0.055841 2.5644e-11 2.74368e-11 2.56322e-11 2.74163e-11 4.32083e-10 4.29829e-10 4.90091e-07 5.28097e-07 4.89958e-07 5.27967e-07 5e-08 0 0 0 0 0 0 0 0
test/test_EKF_basics.cpp
+5 -5
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019 ECL Development Team. All rights reserved.
* Copyright (c) 2019-2020 ECL Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -51,7 +51,7 @@ class EkfBasicsTest : public ::testing::Test {
// Duration of initalization with only providing baro,mag and IMU
const uint32_t _init_duration_s{2};
const uint32_t _init_duration_s{3};
// Setup the Ekf with synthetic measurements
void SetUp() override
@@ -166,7 +166,7 @@ TEST_F(EkfBasicsTest, gpsFusion)
TEST_F(EkfBasicsTest, accleBiasEstimation)
{
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// GIVEN: initialized EKF with default IMU, baro and mag input for 3s
// WHEN: Added more sensor measurements with accel bias and gps measurements
Vector3f accel_bias_sim = {0.0f,0.0f,0.1f};
@@ -181,8 +181,8 @@ TEST_F(EkfBasicsTest, accleBiasEstimation)
Vector3f zero{0.0f, 0.0f, 0.0f};
// THEN: EKF should stay or converge to zero
EXPECT_TRUE(matrix::isEqual(pos, zero, 0.001f));
EXPECT_TRUE(matrix::isEqual(vel, zero, 0.001f));
EXPECT_TRUE(matrix::isEqual(pos, zero, 0.01f));
EXPECT_TRUE(matrix::isEqual(vel, zero, 0.005f));
EXPECT_TRUE(matrix::isEqual(accel_bias, accel_bias_sim, 0.001f));
EXPECT_TRUE(matrix::isEqual(gyro_bias, zero, 0.001f));
}