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ekf: disable xy accel bias learning before takeoff (#818)
* ekf: disable xy accel bias learning before takeoff As those biases are usually poorly observable before takeoff because they are almost perpendicular to the gravity vector, learning is often driven by noise and numerical issues. This results in incorrect bias learning before takeoff when the drone is static on ground for a long period of time. * ekf: update unit test and change indicator
This commit is contained in:
Mathieu Bresciani
GitHub
parent
9788c3bdf2
commit
37d9cef262
@ -163,9 +163,8 @@ void Ekf::predictCovariance()
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for (unsigned stateIndex = 13; stateIndex <= 15; stateIndex++) {
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const unsigned index = stateIndex - 13;
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// TODO: When on ground, only consider an accel bias observable if aligned with the gravity vector
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// const bool is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.8f) || _control_status.flags.in_air;
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const bool is_bias_observable = true;
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// When on ground, only consider an accel bias observable if aligned with the gravity vector
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const bool is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.8f) || _control_status.flags.in_air;
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const bool do_inhibit_axis = do_inhibit_all_axes || !is_bias_observable;
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if (do_inhibit_axis) {
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@ -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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33080000,0.983803,-0.0103688,-0.0134789,0.178446,0.0548987,-0.0889959,0.0442719,0.0685054,-0.0186999,0.0967499,-1.10197e-05,-5.55604e-05,5.25694e-06,0.000155153,-0.000357915,-0.00108814,0.204048,0.000817588,0.434474,0,0,0,0,0,3.78394e-06,2.01089e-05,2.0094e-05,0.000112104,0.0220266,0.0220347,0.00832424,0.0434889,0.043494,0.0583434,6.3327e-11,6.33624e-11,8.30138e-10,3.23768e-07,3.23594e-07,5.0009e-08,0,0,0,0,0,0,0,0
|
||||
33180000,0.983804,-0.0101987,-0.0133322,0.178459,0.0498132,-0.0863042,0.0424337,0.07177,-0.019032,0.0967346,-1.12842e-05,-5.55816e-05,5.14528e-06,0.000155414,-0.000358925,-0.00108811,0.204048,0.000817588,0.434474,0,0,0,0,0,3.77753e-06,1.87844e-05,1.87695e-05,0.000112009,0.0207671,0.0207746,0.00806423,0.0394418,0.0394457,0.0577782,6.04254e-11,6.0452e-11,8.21305e-10,3.23746e-07,3.23573e-07,5.00186e-08,0,0,0,0,0,0,0,0
|
||||
33280000,0.983821,-0.010285,-0.0133166,0.178361,0.0478892,-0.0876777,0.0414076,0.0766143,-0.0277335,0.0995005,-1.12807e-05,-5.55854e-05,5.32335e-06,0.000155414,-0.000358925,-0.0010881,0.204048,0.000817588,0.434474,0,0,0,0,0,3.79285e-06,1.90755e-05,1.90606e-05,0.000112489,0.0231328,0.0231421,0.00800685,0.043921,0.0439263,0.0585219,6.0523e-11,6.05488e-11,8.1472e-10,3.23756e-07,3.23583e-07,5.00286e-08,0,0,0,0,0,0,0,0
|
||||
33380000,0.98384,-0.0100394,-0.0133069,0.178275,0.0416539,-0.0778309,0.0401933,0.0767654,-0.0218522,0.0959402,-1.16482e-05,-5.55846e-05,5.39244e-06,0.000155673,-0.000362917,-0.0010879,0.204048,0.000817588,0.434474,0,0,0,0,0,3.78586e-06,1.76999e-05,1.76846e-05,0.000112388,0.0215849,0.0215934,0.00778968,0.0397717,0.0397758,0.0579283,5.76776e-11,5.76952e-11,8.05937e-10,0,0,5.0035e-08,0,0,0,0,0,0,0,0
|
||||
33480000,0.983836,-0.0100685,-0.0132777,0.178296,0.0398951,-0.0790993,0.039531,0.0808282,-0.029651,0.0940816,-1.1648e-05,-5.5584e-05,5.3874e-06,0.000155673,-0.000362917,-0.00108786,0.204048,0.000817588,0.434474,0,0,0,0,0,3.78249e-06,1.79747e-05,1.79593e-05,0.000112281,0.0238053,0.0238157,0.00769877,0.0443554,0.0443609,0.0577873,5.77743e-11,5.77912e-11,7.9719e-10,0,0,5.00448e-08,0,0,0,0,0,0,0,0
|
||||
33580000,0.98386,-0.00982635,-0.0131742,0.178184,0.034115,-0.0733573,0.0396091,0.0803175,-0.0252522,0.0923119,-1.19312e-05,-5.55977e-05,5.56324e-06,0.000155673,-0.000362917,-0.00108768,0.204048,0.000817588,0.434474,0,0,0,0,0,3.77647e-06,1.65827e-05,1.65672e-05,0.000112172,0.0220311,0.0220401,0.00752296,0.0400981,0.0401022,0.0571867,5.50417e-11,5.50513e-11,7.88469e-10,0,0,5.00443e-08,0,0,0,0,0,0,0,0
|
||||
33680000,0.983872,-0.0098387,-0.013171,0.178115,0.0315188,-0.0768108,0.0356117,0.0836582,-0.0327707,0.0913271,-1.19304e-05,-5.55981e-05,5.59743e-06,0.000155673,-0.000362917,-0.00108761,0.204048,0.000817588,0.434474,0,0,0,0,0,3.76992e-06,1.68415e-05,1.68258e-05,0.000112062,0.0242365,0.024247,0.00746513,0.0447696,0.0447753,0.0570194,5.51384e-11,5.51474e-11,7.79799e-10,0,0,5.00537e-08,0,0,0,0,0,0,0,0
|
||||
33780000,0.983884,-0.00963787,-0.0131123,0.178065,0.0249127,-0.070321,0.0376176,0.0842851,-0.0277088,0.0884947,-1.21952e-05,-5.55719e-05,5.51537e-06,0.000155673,-0.000362917,-0.00108727,0.204048,0.000817588,0.434474,0,0,0,0,0,3.76076e-06,1.54642e-05,1.54484e-05,0.000111949,0.0222923,0.0223013,0.00732707,0.0404053,0.0404096,0.0564246,5.25598e-11,5.25624e-11,7.7116e-10,0,0,5.00429e-08,0,0,0,0,0,0,0,0
|
||||
33880000,0.983905,-0.00966126,-0.0130668,0.177949,0.0217859,-0.0697734,0.0366281,0.0865913,-0.0347448,0.0875817,-1.21923e-05,-5.55746e-05,5.65978e-06,0.000155673,-0.000362917,-0.00108717,0.204048,0.000817588,0.434474,0,0,0,0,0,3.75444e-06,1.57074e-05,1.56916e-05,0.000111831,0.0244472,0.0244579,0.00730004,0.045146,0.0451517,0.0562421,5.26564e-11,5.26586e-11,7.62576e-10,0,0,5.00512e-08,0,0,0,0,0,0,0,0
|
||||
33980000,0.983899,-0.00949403,-0.0131426,0.177986,0.0176371,-0.0597589,0.0358891,0.0860967,-0.0271873,0.0871583,-1.24716e-05,-5.5515e-05,5.61358e-06,0.000155673,-0.000362917,-0.00108676,0.204048,0.000817588,0.434474,0,0,0,0,0,3.76883e-06,1.43714e-05,1.43553e-05,0.000112284,0.0223766,0.0223856,0.00725108,0.0406816,0.0406859,0.0564499,5.02619e-11,5.02587e-11,7.56186e-10,0,0,5.00273e-08,0,0,0,0,0,0,0,0
|
||||
34080000,0.983899,-0.00943923,-0.0131455,0.177992,0.0163466,-0.0633345,0.03663,0.0878446,-0.0333921,0.0874049,-1.24734e-05,-5.5513e-05,5.52311e-06,0.000155673,-0.000362917,-0.00108665,0.204048,0.000817588,0.434474,0,0,0,0,0,3.76216e-06,1.46e-05,1.45837e-05,0.000112156,0.024469,0.0244793,0.00725125,0.0454719,0.0454776,0.0562527,5.03585e-11,5.03551e-11,7.47675e-10,0,0,5.00339e-08,0,0,0,0,0,0,0,0
|
||||
34180000,0.983899,-0.00929001,-0.0131423,0.178002,0.0104838,-0.055573,0.03531,0.0877651,-0.0269495,0.0873644,-1.26991e-05,-5.5466e-05,5.57268e-06,0.000155673,-0.000362917,-0.00108583,0.204048,0.000817588,0.434474,0,0,0,0,0,3.75796e-06,1.33243e-05,1.3308e-05,0.000112023,0.0222993,0.0223079,0.00717487,0.0409181,0.0409224,0.0556781,4.81614e-11,4.81532e-11,7.3922e-10,0,0,5.00055e-08,0,0,0,0,0,0,0,0
|
||||
34280000,0.983896,-0.00918701,-0.0131958,0.17802,0.00974214,-0.0577996,0.0342921,0.0888042,-0.0326095,0.084719,-1.26978e-05,-5.54672e-05,5.64247e-06,0.000155673,-0.000362917,-0.00108554,0.204048,0.000817588,0.434474,0,0,0,0,0,3.75498e-06,1.35394e-05,1.35226e-05,0.000111883,0.0243223,0.024332,0.00720117,0.0457381,0.0457437,0.055485,4.82579e-11,4.82497e-11,7.30813e-10,0,0,5.00088e-08,0,0,0,0,0,0,0,0
|
||||
34380000,0.983913,-0.00901186,-0.0131819,0.177931,0.00596617,-0.0485777,0.0355789,0.0870427,-0.0261832,0.0826011,-1.2902e-05,-5.54315e-05,5.6379e-06,0.000155673,-0.000362917,-0.00108513,0.204048,0.000817588,0.434474,0,0,0,0,0,3.74529e-06,1.23379e-05,1.23212e-05,0.000111746,0.0220818,0.02209,0.00715014,0.041109,0.0411133,0.0549314,4.6263e-11,4.62519e-11,7.22458e-10,0,0,5.00015e-08,0,0,0,0,0,0,0,0
|
||||
34480000,0.983913,-0.00910517,-0.013125,0.17793,0.00399677,-0.0520886,0.0351793,0.0875316,-0.0312705,0.082893,-1.29003e-05,-5.54329e-05,5.71858e-06,0.000155673,-0.000362917,-0.00108493,0.204048,0.000817588,0.434474,0,0,0,0,0,3.74159e-06,1.25401e-05,1.25238e-05,0.0001116,0.0240256,0.0240347,0.00720061,0.0459396,0.0459451,0.0547545,4.63592e-11,4.63489e-11,7.14169e-10,0,0,5.00001e-08,0,0,0,0,0,0,0,0
|
||||
34580000,0.983917,-0.00894929,-0.0129295,0.177932,0.0003078,-0.0438439,0.708521,0.0859263,-0.0261499,0.105425,-1.30559e-05,-5.53974e-05,5.69476e-06,0.000155673,-0.000362917,-0.00108431,0.204048,0.000817588,0.434474,0,0,0,0,0,3.75413e-06,1.14208e-05,1.14051e-05,0.000112025,0.0206188,0.0206257,0.00722051,0.041225,0.0412291,0.0549752,4.45646e-11,4.45516e-11,7.08003e-10,0,0,5.0002e-08,0,0,0,0,0,0,0,0
|
||||
34680000,0.983922,-0.00893718,-0.0126457,0.177924,-0.00270091,-0.0408443,1.69744,0.085826,-0.0303755,0.216207,-1.30569e-05,-5.53964e-05,5.6565e-06,0.000155673,-0.000362917,-0.00108359,0.204048,0.000817588,0.434474,0,0,0,0,0,3.7471e-06,1.16112e-05,1.15963e-05,0.000111872,0.0207234,0.0207304,0.00729028,0.0458695,0.0458748,0.0548128,4.46611e-11,4.46484e-11,6.99815e-10,0,0,5.0002e-08,0,0,0,0,0,0,0,0
|
||||
34780000,0.983934,-0.00881968,-0.0123799,0.177883,-0.00581783,-0.0322002,2.66168,0.0847,-0.0253207,0.37283,-1.31762e-05,-5.53569e-05,5.69193e-06,0.000155673,-0.000362917,-0.0010583,0.204048,0.000817588,0.434474,0,0,0,0,0,3.73954e-06,1.06946e-05,1.06804e-05,0.000111715,0.0175085,0.0175138,0.00727722,0.0411171,0.0411211,0.0543065,4.32129e-11,4.31978e-11,6.9168e-10,0,0,5.0001e-08,0,0,0,0,0,0,0,0
|
||||
34880000,0.98394,-0.0088067,-0.0120972,0.177872,-0.00876378,-0.0291915,3.64508,0.0840329,-0.0283654,0.658405,-1.31777e-05,-5.53557e-05,5.65961e-06,0.000155673,-0.000362917,-0.00105551,0.204048,0.000817588,0.434474,0,0,0,0,0,3.73221e-06,1.08764e-05,1.08629e-05,0.000111553,0.0176159,0.0176213,0.00736535,0.0454439,0.0454488,0.0541653,4.33094e-11,4.32946e-11,6.83609e-10,0,0,5.0001e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@ -103,7 +103,7 @@ class EkfInitializationTest : public ::testing::Test {
|
||||
EXPECT_TRUE(pos_var(1) > pos_variance_limit) << "pos_var(1)" << pos_var(1);
|
||||
EXPECT_TRUE(pos_var(2) > pos_variance_limit) << "pos_var(2)" << pos_var(2);
|
||||
|
||||
const float vel_variance_limit = 0.4f;
|
||||
const float vel_variance_limit = 0.3f;
|
||||
EXPECT_TRUE(vel_var(0) > vel_variance_limit) << "vel_var(0)" << vel_var(0);
|
||||
EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1)" << vel_var(1);
|
||||
EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2)" << vel_var(2);
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user