mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-10 00:38:52 +08:00
added prior update and posterior update
This commit is contained in:
Marvin Harms
@@ -47,7 +47,7 @@ using matrix::wrap_pi;
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FixedwingShearEstimator::FixedwingShearEstimator() :
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::test1),
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_soaring_estimator_shear_pub(ORB_ID(soaring_estimator_shear))
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_soaring_estimator_shear_pub(ORB_ID(soaring_estimator_shear)),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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{
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// limit to 10 Hz
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@@ -66,12 +66,41 @@ FixedwingShearEstimator::~FixedwingShearEstimator()
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bool
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FixedwingShearEstimator::init()
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{
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if (!_vehicle_angular_velocity_sub.registerCallback()) {
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if (!_soaring_controller_wind_sub.registerCallback()) {
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PX4_ERR("vehicle position callback registration failed!");
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return false;
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}
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PX4_INFO("Starting FW_DYN_SOAR_ESTIMATOR");
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return true;
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// init horizontal wind field
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for (uint i=0; i<6; i++){
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_X_prior_horizontal(i) = 0.f;
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_X_posterior_horizontal(i) = 0.f;
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for (uint j=0; j<6; j++){
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_A_horizontal(i,j) = 0.f;
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}
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}
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_P_prior_horizontal = _Q_horizontal;
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_P_posterior_horizontal = _Q_horizontal;
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// init vertical wind field
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for (uint i=0; i<_dim_vertical; i++){
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_X_prior_vertical(i) = 0.f;
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_X_posterior_vertical(i) = 0.f;
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for (uint j=0; j<_dim_vertical; j++){
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_A_vertical(i,j) = 0.f;
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}
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}
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_P_prior_vertical = _Q_vertical;
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_P_posterior_vertical = _Q_vertical;
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// init time
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_last_run = hrt_absolute_time();
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// init reset counter
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_reset_counter = 0;
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}
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int
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@@ -90,11 +119,11 @@ FixedwingShearEstimator::parameters_update()
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_R_horizontal(0,0) = powf(_param_sigma_r_vel.get(),2);
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_R_horizontal(1,1) = powf(_param_sigma_r_vel.get(),2);
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for (int i=0;i<_dim_vertical;i++){
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for (int i=0;i<(int)_dim_vertical;i++){
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_Q_vertical(i,i) = powf(_param_sigma_q_vel.get(),2);
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}
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_R_vertical = powf(_param_sigma_r_vel.get(),2);
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_R_vertical(0,0) = powf(_param_sigma_r_vel.get(),2);
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return PX4_OK;
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}
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@@ -105,17 +134,17 @@ FixedwingShearEstimator::reset_filter()
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// reset all states of the filter to some initial guess.
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// reset horizontal wind state
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for (int i=0;i<6;i++){
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_X_prior_horizontal(i,i) = 0.0f;
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_X_posterior_horizontal(i,i) = 0.0f;
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for (uint i=0;i<6;i++){
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_X_prior_horizontal(i) = 0.0f;
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_X_posterior_horizontal(i) = 0.0f;
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_P_prior_horizontal(i,i) = 1.0f;
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_P_posterior_horizontal(i,i) = 1.0f;
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}
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// reset vertical wind state
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for (int i=0;i<_dim_vertical;i++){
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_X_prior_vertical(i,i) = 0.0f;
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_X_posterior_vertical(i,i) = 0.0f;
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for (uint i=0;i<_dim_vertical;i++){
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_X_prior_vertical(i) = 0.0f;
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_X_posterior_vertical(i) = 0.0f;
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_P_prior_vertical(i,i) = 1.0f;
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_P_posterior_vertical(i,i) = 1.0f;
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}
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@@ -124,17 +153,116 @@ FixedwingShearEstimator::reset_filter()
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void
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FixedwingShearEstimator::perform_prior_update()
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{
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// get time since last run
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float dt = (hrt_absolute_time() - _last_run)/1000000.f;
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_last_run = hrt_absolute_time();
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// perform prior update assuming trivial dynamics of the wind field (mean field stays the same)
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_X_prior_horizontal = _X_posterior_horizontal;
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_X_prior_vertical = _X_posterior_vertical;
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_P_prior_horizontal = _P_posterior_horizontal + dt*_Q_horizontal;
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_P_prior_vertical = _P_posterior_vertical + dt*_Q_vertical;
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}
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void
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FixedwingShearEstimator::perform_posterior_update()
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FixedwingShearEstimator::perform_posterior_update(float height, Vector3f wind)
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{
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//
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bool error = false;
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// first fill the horizontal observation matrix:
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float vx = _X_prior_horizontal(0);
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float vy = _X_prior_horizontal(1);
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float h = _X_prior_horizontal(4);
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float a = _X_prior_horizontal(5);
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_H_horizontal(0,0) = 1.f/(1.f + expf(-(height-h)*a));
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_H_horizontal(1,1) = 1.f/(1.f + expf(-(height-h)*a));
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_H_horizontal(0,2) = 1.f;
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_H_horizontal(1,3) = 1.f;
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_H_horizontal(0,4) = -((a*vx*expf(-(height-h)*a)))/powf(1.f + expf(-(height-h)*a),2);
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_H_horizontal(1,4) = -((a*vy*expf(-(height-h)*a)))/powf(1.f + expf(-(height-h)*a),2);
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_H_horizontal(0,5) = -((vx*(h-height))*expf(-(height-h)*a))/powf(1.f + expf(-(height-h)*a),2);
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_H_horizontal(1,5) = -((vx*(h-height))*expf(-(height-h)*a))/powf(1.f + expf(-(height-h)*a),2);
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// then fill the vertical observation matrix
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for (uint i=0;i<_dim_vertical;i++){
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_H_vertical(0,i) = powf(height,i);
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}
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// compute Kalman gain matrix for horizontal wind states
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Matrix<float, 6, 2> tmp1_horizontal = _P_prior_horizontal*_H_horizontal.T();
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Matrix<float, 2, 2> tmp2_horizontal = _H_horizontal*_P_prior_horizontal*_H_horizontal.T() + _R_horizontal;
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Matrix<float, 2, 2> inv_horizontal;
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inv_horizontal(0,0) = tmp2_horizontal(1,1);
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inv_horizontal(0,1) = -tmp2_horizontal(0,1);
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inv_horizontal(1,1) = tmp2_horizontal(0,0);
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inv_horizontal(1,0) = -tmp2_horizontal(1,0);
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float determinant_horizontal = tmp2_horizontal(0,0)*tmp2_horizontal(1,1) - tmp2_horizontal(1,0)*tmp2_horizontal(0,1);
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if (fabs(determinant_horizontal)>0.000001f){
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inv_horizontal /= determinant_horizontal;
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_K_horizontal = tmp1_horizontal*inv_horizontal;
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}
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else{
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PX4_ERR("singular horizontal matrix, resetting filter");
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error = true;
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}
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// then fill the vertical observation matrix
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for (uint i=0;i<_dim_vertical;i++){
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_H_vertical(0,i) = powf(height,i);
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}
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// compute Kalman gain matrix for vertical wind states
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Matrix<float, _dim_vertical, 1> tmp1_vertical = _P_prior_vertical*_H_vertical.T();
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Matrix<float, 1, 1> tmp2_vertical = _H_vertical*_P_prior_vertical*_H_vertical.T() + _R_vertical;
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Matrix<float, 1, 1> inv_vertical;
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float determinant_vertical = tmp2_vertical(0,0);
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if (fabs(determinant_vertical)>0.000001f){
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inv_vertical(0,0) = 1.f / determinant_vertical;
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_K_vertical = tmp1_vertical*inv_vertical;
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}
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else{
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PX4_ERR("singular vertical matrix, resetting filter");
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error = true;
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}
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if (error) {
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reset_filter();
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_reset_counter += 1;
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}
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else {
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// perform horizontal update
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Vector<float, 2> z_expected_horizontal = (Vector<float, 2>) (_H_horizontal*_X_prior_horizontal);
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Vector<float, 2> wind_horizontal;
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Matrix<float, 6, 6> identity_1;
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wind_horizontal(0) = wind(0);
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wind_horizontal(1) = wind(1);
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identity_1.setIdentity();
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_X_posterior_horizontal = _X_prior_horizontal + _K_horizontal*(wind_horizontal - z_expected_horizontal);
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_P_posterior_horizontal = (identity_1 - _K_horizontal*_H_horizontal)*_P_prior_horizontal;
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// perform vertical update
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Vector<float, 1> z_expected_vertical = (Vector<float, 1>) (_H_vertical*_X_prior_vertical);
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Vector<float, 1> wind_vertical;
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Matrix<float, _dim_vertical, _dim_vertical> identity_2;
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wind_vertical(0) = wind(2);
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identity_2.setIdentity();
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_X_posterior_vertical = _X_prior_vertical + _K_vertical*(wind_vertical - z_expected_vertical);
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_P_posterior_vertical = (identity_2 - _K_vertical*_H_vertical)*_P_prior_vertical;
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}
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// find the correct sign of params (parametrization is not unique)
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if (_X_posterior_horizontal(5)<0.f) {
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_X_posterior_horizontal(0) *= -1.f;
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_X_posterior_horizontal(1) *= -1.f;
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_X_posterior_horizontal(5) *= -1.f;
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}
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}
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void
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FixedwingPositionINDIControl::Run()
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FixedwingShearEstimator::Run()
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{
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if (should_exit()) {
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_soaring_controller_wind_sub.unregisterCallback();
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@@ -145,7 +273,7 @@ FixedwingPositionINDIControl::Run()
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perf_begin(_loop_perf);
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// only run controller if wind info changed
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if (_soaring_controller_wind_sub.update(&soaring_controller_wind))
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if (_soaring_controller_wind_sub.update(&_soaring_controller_wind))
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{
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// only update parameters if they changed
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bool params_updated = _parameter_update_sub.updated();
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@@ -162,8 +290,8 @@ FixedwingPositionINDIControl::Run()
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}
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// get current measurement
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_current_wind = Vector3f(soaring_controller_wind.wind_estimate_filtered);
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_current_height = Vector3f(soaring_controller_wind.position)(2);
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_current_wind = Vector3f(_soaring_controller_wind.wind_estimate_filtered);
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_current_height = Vector3f(_soaring_controller_wind.position)(2);
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// prior update
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perform_prior_update();
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@@ -175,9 +303,78 @@ FixedwingPositionINDIControl::Run()
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// maybe reset filters...
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// publish shear params
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// ========================================
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// publish controller position in ENU frame
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// ========================================
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_soaring_estimator_shear.timestamp = hrt_absolute_time();
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_soaring_estimator_shear.vx = _X_posterior_horizontal(0);
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_soaring_estimator_shear.vy = _X_posterior_horizontal(1);
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_soaring_estimator_shear.bx = _X_posterior_horizontal(2);
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_soaring_estimator_shear.bx = _X_posterior_horizontal(3);
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_soaring_estimator_shear.h = _X_posterior_horizontal(4);
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_soaring_estimator_shear.a = _X_posterior_horizontal(5);
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_soaring_estimator_shear.reset_counter = _reset_counter;
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_soaring_estimator_shear_pub.publish(_soaring_estimator_shear);
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}
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}
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int FixedwingShearEstimator::task_spawn(int argc, char *argv[])
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{
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FixedwingShearEstimator *instance = new FixedwingShearEstimator();
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if (instance) {
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_object.store(instance);
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_task_id = task_id_is_work_queue;
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if (instance->init()) {
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return PX4_OK;
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}
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} else {
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PX4_ERR("alloc failed");
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}
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delete instance;
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_object.store(nullptr);
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_task_id = -1;
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return PX4_ERROR;
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}
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int FixedwingShearEstimator::custom_command(int argc, char *argv[])
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{
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return print_usage("unknown command");
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}
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int FixedwingShearEstimator::print_usage(const char *reason)
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{
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if (reason) {
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PX4_WARN("%s\n", reason);
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}
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PRINT_MODULE_DESCRIPTION(
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R"DESCR_STR(
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### Description
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fw_dyn_soar_estimator is the fixed wing shear estimator for dynamic soaring.
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)DESCR_STR");
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PRINT_MODULE_USAGE_NAME("fw_dyn_soar_estimator", "estimator");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_ARG("vtol", "VTOL mode", true);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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return 0;
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}
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extern "C" __EXPORT int fw_dyn_soar_estimator_main(int argc, char *argv[])
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{
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return FixedwingShearEstimator::main(argc, argv);
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}
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@@ -96,17 +96,23 @@ private:
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void perform_posterior_update(float height, Vector3f wind);
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bool check_plausibility();
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void publish_estimate();
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void status_publish();
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// control variables
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hrt_abstime _last_run{0};
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uint _reset_counter = {};
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const static size_t _dim_vertical = 2; // order of vertical approximation function for vertical wind
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Vector<float, 6> _X_prior_horizontal= {};
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Matrix<float, 6, 6> _P_prior_horizontal = {};
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Vector<float, 6> _X_posterior_horizontal= {};
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Matrix<float, 6, 6> _P_prosterior_horizontal = {};
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Matrix<float, 6, 6> _P_posterior_horizontal = {};
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Matrix<float, 6, 6> _Q_horizontal = {};
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Matrix<float, 2, 2> _R_horizontal = {};
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Matrix<float, 2, 6> _H_horizontal = {};
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Matrix<float, 6, 6> _A_horizontal = {};
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Matrix<float, 6, 2> _K_horizontal = {};
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Vector<float, _dim_vertical> _X_prior_vertical= {};
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Matrix<float, _dim_vertical, _dim_vertical> _P_prior_vertical = {};
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@@ -114,8 +120,10 @@ private:
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Matrix<float, _dim_vertical, _dim_vertical> _P_posterior_vertical = {};
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Vector<float, _dim_vertical> _X_vertical = {}; // params of vertical wind
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Matrix<float, _dim_vertical, _dim_vertical> _Q_vertical = {};
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float _R_vertical = {};
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Matrix<float, 1, 1> _R_vertical = {};
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Matrix<float, 1, _dim_vertical> _H_vertical = {};
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Matrix<float, _dim_vertical, _dim_vertical> _A_vertical = {};
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Matrix<float, _dim_vertical, 1> _K_vertical = {};
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// measurement variables
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Vector3f _current_wind = {};
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@@ -16,13 +16,13 @@
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* This is the std dev of the wind velocity in each direction
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*
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* @unit kg
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* @min 0.01
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* @min 0.0
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* @max 10
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* @decimal 2
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* @increment 0.01
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* @decimal 6
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* @increment 0.000001
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* @group FW DYN SOAR Control
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*/
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PARAM_DEFINE_FLOAT(DS_SIGMA_Q_V, 1.f);
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PARAM_DEFINE_FLOAT(DS_SIGMA_Q_V, 0.0001f);
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/**
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* Standard deviation of vertical shear position
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@@ -30,13 +30,13 @@ PARAM_DEFINE_FLOAT(DS_SIGMA_Q_V, 1.f);
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* This is the std dev of the shear vertical position
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*
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* @unit kg
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* @min 0.01
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* @min 0.0
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* @max 10
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* @decimal 2
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* @increment 0.01
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* @decimal 6
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* @increment 0.000001
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* @group FW DYN SOAR Control
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*/
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PARAM_DEFINE_FLOAT(DS_SIGMA_Q_H, 1.f);
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PARAM_DEFINE_FLOAT(DS_SIGMA_Q_H, 0.001f);
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/**
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* Standard deviation of velicity state in shear model
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@@ -44,13 +44,13 @@ PARAM_DEFINE_FLOAT(DS_SIGMA_Q_H, 1.f);
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* This is the std dev of the shear strenght param
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*
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* @unit kg
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* @min 0.01
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* @min 0.0
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* @max 10
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* @decimal 2
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* @increment 0.01
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* @decimal 6
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* @increment 0.000001
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* @group FW DYN SOAR Control
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*/
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PARAM_DEFINE_FLOAT(DS_SIGMA_Q_A, 1.f);
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PARAM_DEFINE_FLOAT(DS_SIGMA_Q_A, 0.00003f);
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/**
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* Standard deviation of velicity measurement (wind)
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@@ -58,10 +58,10 @@ PARAM_DEFINE_FLOAT(DS_SIGMA_Q_A, 1.f);
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* This is the std dev of the wind pseudomeasurement passed to the EKF
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*
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* @unit kg
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* @min 0.01
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* @min 0.0
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* @max 10
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* @decimal 2
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* @increment 0.01
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* @decimal 6
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* @increment 0.000001
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* @group FW DYN SOAR Control
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*/
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PARAM_DEFINE_FLOAT(DS_SIGMA_R_V, 1.f);
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