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ekf: use float instead of Vector2f for innov gate in pos/vel fusion

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We always use the same innovation gate for X and Y anyway
This commit is contained in:
bresch
2022-02-02 17:43:25 -05:00
committed by Daniel Agar
parent 5fb0084524
commit 3077f27821
5 changed files with 24 additions and 28 deletions
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src/modules/ekf2/EKF/control.cpp
+5 -7
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@@ -243,7 +243,6 @@ void Ekf::controlExternalVisionFusion()
}
Vector3f ev_pos_obs_var;
Vector2f ev_pos_innov_gates;
// correct position and height for offset relative to IMU
const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
@@ -307,9 +306,9 @@ void Ekf::controlExternalVisionFusion()
}
// innovation gate size
ev_pos_innov_gates(0) = fmaxf(_params.ev_pos_innov_gate, 1.0f);
const float ev_pos_innov_gate = fmaxf(_params.ev_pos_innov_gate, 1.0f);
fuseHorizontalPosition(_ev_pos_innov, ev_pos_innov_gates, ev_pos_obs_var, _ev_pos_innov_var, _ev_pos_test_ratio);
fuseHorizontalPosition(_ev_pos_innov, ev_pos_innov_gate, ev_pos_obs_var, _ev_pos_innov_var, _ev_pos_test_ratio);
}
// determine if we should use the velocity observations
@@ -332,10 +331,9 @@ void Ekf::controlExternalVisionFusion()
const Vector3f obs_var = matrix::max(getVisionVelocityVarianceInEkfFrame(), sq(0.05f));
const float innov_gate = fmaxf(_params.ev_vel_innov_gate, 1.f);
const Vector2f ev_vel_innov_gates{innov_gate, innov_gate};
fuseHorizontalVelocity(_ev_vel_innov, ev_vel_innov_gates, obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
fuseVerticalVelocity(_ev_vel_innov, ev_vel_innov_gates, obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
fuseHorizontalVelocity(_ev_vel_innov, innov_gate, obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
fuseVerticalVelocity(_ev_vel_innov, innov_gate, obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
}
// determine if we should use the yaw observation
@@ -1073,7 +1071,7 @@ void Ekf::controlAuxVelFusion()
if (isHorizontalAidingActive()) {
const Vector2f aux_vel_innov_gate(_params.auxvel_gate, _params.auxvel_gate);
const float aux_vel_innov_gate = fmaxf(_params.auxvel_gate, 1.f);
_aux_vel_innov = _state.vel - auxvel_sample_delayed.vel;
src/modules/ekf2/EKF/ekf.h
+4 -4
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@@ -660,16 +660,16 @@ private:
// fuse optical flow line of sight rate measurements
void fuseOptFlow();
bool fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool fuseHorizontalVelocity(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool fuseVerticalVelocity(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool fuseHorizontalPosition(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratiov, bool inhibit_gate = false);
bool fuseVerticalPosition(const float innov, const float innov_gate, const float obs_var,
bool fuseVerticalPosition(float innov, float innov_gate, float obs_var,
float &innov_var, float &test_ratio);
void fuseGpsVelPos();
src/modules/ekf2/EKF/fake_pos_control.cpp
+1 -1
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@@ -116,7 +116,7 @@ void Ekf::fuseFakePosition()
_gps_pos_innov.xy() = Vector2f(_state.pos) - _last_known_posNE;
const Vector2f fake_pos_innov_gate(3.0f, 3.0f);
const float fake_pos_innov_gate = 3.f;
if (fuseHorizontalPosition(_gps_pos_innov, fake_pos_innov_gate, fake_pos_obs_var,
_gps_pos_innov_var, _gps_pos_test_ratio, true)) {
src/modules/ekf2/EKF/gps_fusion.cpp
+4 -6
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@@ -78,13 +78,11 @@ void Ekf::fuseGpsVelPos()
_gps_pos_innov.xy() = Vector2f(_state.pos) - _gps_sample_delayed.pos;
// set innovation gate size
const Vector2f gps_pos_innov_gates{fmaxf(_params.gps_pos_innov_gate, 1.f), 0.f};
const float pos_innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
const float vel_innov_gate = fmaxf(_params.gps_vel_innov_gate, 1.f);
const Vector2f gps_vel_innov_gates{vel_innov_gate, vel_innov_gate};
// fuse GPS measurement
fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseVerticalVelocity(_gps_vel_innov, gps_vel_innov_gates, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseHorizontalPosition(_gps_pos_innov, gps_pos_innov_gates, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
fuseHorizontalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseVerticalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseHorizontalPosition(_gps_pos_innov, pos_innov_gate, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
}
src/modules/ekf2/EKF/vel_pos_fusion.cpp
+10 -10
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@@ -44,14 +44,14 @@
#include <mathlib/mathlib.h>
#include "ekf.h"
bool Ekf::fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool Ekf::fuseHorizontalVelocity(const Vector3f &innov, const float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio)
{
innov_var(0) = P(4, 4) + obs_var(0);
innov_var(1) = P(5, 5) + obs_var(1);
test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate(0)) * innov_var(0)),
sq(innov(1)) / (sq(innov_gate(0)) * innov_var(1)));
test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate) * innov_var(0)),
sq(innov(1)) / (sq(innov_gate) * innov_var(1)));
const bool innov_check_pass = (test_ratio(0) <= 1.0f);
@@ -70,12 +70,12 @@ bool Ekf::fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_ga
}
}
bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio)
{
innov_var(2) = P(6, 6) + obs_var(2);
test_ratio(1) = sq(innov(2)) / (sq(innov_gate(1)) * innov_var(2));
test_ratio(1) = sq(innov(2)) / (sq(innov_gate) * innov_var(2));
_vert_vel_innov_ratio = innov(2) / sqrtf(innov_var(2));
_vert_vel_fuse_time_us = _time_last_imu;
bool innov_check_pass = (test_ratio(1) <= 1.0f);
@@ -85,7 +85,7 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate
float innovation;
if (_fault_status.flags.bad_acc_vertical && !innov_check_pass) {
const float innov_limit = innov_gate(1) * sqrtf(innov_var(2));
const float innov_limit = innov_gate * sqrtf(innov_var(2));
innovation = math::constrain(innov(2), -innov_limit, innov_limit);
innov_check_pass = true;
@@ -107,19 +107,19 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate
}
}
bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio, bool inhibit_gate)
{
innov_var(0) = P(7, 7) + obs_var(0);
innov_var(1) = P(8, 8) + obs_var(1);
test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate(0)) * innov_var(0)),
sq(innov(1)) / (sq(innov_gate(0)) * innov_var(1)));
test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate) * innov_var(0)),
sq(innov(1)) / (sq(innov_gate) * innov_var(1)));
const bool innov_check_pass = test_ratio(0) <= 1.0f;
if (innov_check_pass || inhibit_gate) {
if (inhibit_gate && test_ratio(0) > sq(100.0f / innov_gate(0))) {
if (inhibit_gate && test_ratio(0) > sq(100.0f / innov_gate)) {
// always protect against extreme values that could result in a NaN
return false;
}