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ekf2 initialization fixes
This commit is contained in:
Daniel Agar
+94
-212
@@ -108,8 +108,8 @@ struct magSample {
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};
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struct baroSample {
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float hgt; // barometer height above sea level measurement in m
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uint64_t time_us; // timestamp in microseconds
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float hgt{0.0f}; // barometer height above sea level measurement in m
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uint64_t time_us{0}; // timestamp in microseconds
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};
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struct rangeSample {
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@@ -182,92 +182,92 @@ struct dragSample {
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struct parameters {
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// measurement source control
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int fusion_mode; // bitmasked integer that selects which aiding sources will be used
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int vdist_sensor_type; // selects the primary source for height data
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int sensor_interval_min_ms; // minimum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers.
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int fusion_mode{MASK_USE_GPS}; // bitmasked integer that selects which aiding sources will be used
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int vdist_sensor_type{VDIST_SENSOR_BARO}; // selects the primary source for height data
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int sensor_interval_min_ms{20}; // minimum time of arrival difference between non IMU sensor updates. Sets the size of the observation buffers.
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// measurement time delays
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float mag_delay_ms; // magnetometer measurement delay relative to the IMU (msec)
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float baro_delay_ms; // barometer height measurement delay relative to the IMU (msec)
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float gps_delay_ms; // GPS measurement delay relative to the IMU (msec)
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float airspeed_delay_ms; // airspeed measurement delay relative to the IMU (msec)
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float flow_delay_ms; // optical flow measurement delay relative to the IMU (msec) - this is to the middle of the optical flow integration interval
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float range_delay_ms; // range finder measurement delay relative to the IMU (msec)
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float ev_delay_ms; // off-board vision measurement delay relative to the IMU (msec)
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float mag_delay_ms{0.0f}; // magnetometer measurement delay relative to the IMU (msec)
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float baro_delay_ms{0.0f}; // barometer height measurement delay relative to the IMU (msec)
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float gps_delay_ms{200.0f}; // GPS measurement delay relative to the IMU (msec)
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float airspeed_delay_ms{200.0f}; // airspeed measurement delay relative to the IMU (msec)
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float flow_delay_ms{5.0f}; // optical flow measurement delay relative to the IMU (msec) - this is to the middle of the optical flow integration interval
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float range_delay_ms{5.0f}; // range finder measurement delay relative to the IMU (msec)
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float ev_delay_ms{100.0f}; // off-board vision measurement delay relative to the IMU (msec)
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// input noise
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float gyro_noise; // IMU angular rate noise used for covariance prediction (rad/sec)
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float accel_noise; // IMU acceleration noise use for covariance prediction (m/sec/sec)
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float gyro_noise{1.5e-2f}; // IMU angular rate noise used for covariance prediction (rad/sec)
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float accel_noise{3.5e-1f}; // IMU acceleration noise use for covariance prediction (m/sec/sec)
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// process noise
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float gyro_bias_p_noise; // process noise for IMU rate gyro bias prediction (rad/sec**2)
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float accel_bias_p_noise; // process noise for IMU accelerometer bias prediction (m/sec**3)
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float mage_p_noise; // process noise for earth magnetic field prediction (Guass/sec)
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float magb_p_noise; // process noise for body magnetic field prediction (Guass/sec)
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float wind_vel_p_noise; // process noise for wind velocity prediction (m/sec/sec)
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float terrain_p_noise; // process noise for terrain offset (m/sec)
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float terrain_gradient; // gradient of terrain used to estimate process noise due to changing position (m/m)
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float gyro_bias_p_noise{1.0e-3f}; // process noise for IMU rate gyro bias prediction (rad/sec**2)
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float accel_bias_p_noise{3.0e-3f}; // process noise for IMU accelerometer bias prediction (m/sec**3)
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float mage_p_noise{1.0e-3f}; // process noise for earth magnetic field prediction (Guass/sec)
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float magb_p_noise{1.0e-4}; // process noise for body magnetic field prediction (Guass/sec)
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float wind_vel_p_noise{1.0e-1f}; // process noise for wind velocity prediction (m/sec/sec)
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float terrain_p_noise{5.0f}; // process noise for terrain offset (m/sec)
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float terrain_gradient{0.5f}; // gradient of terrain used to estimate process noise due to changing position (m/m)
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// initialisation errors
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float switch_on_gyro_bias; // 1-sigma gyro bias uncertainty at switch on (rad/sec)
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float switch_on_accel_bias; // 1-sigma accelerometer bias uncertainty at switch on (m/s**2)
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float initial_tilt_err; // 1-sigma tilt error after initial alignment using gravity vector (rad)
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// initialization errors
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float switch_on_gyro_bias{0.1f}; // 1-sigma gyro bias uncertainty at switch on (rad/sec)
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float switch_on_accel_bias{0.2f}; // 1-sigma accelerometer bias uncertainty at switch on (m/s**2)
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float initial_tilt_err{0.1f}; // 1-sigma tilt error after initial alignment using gravity vector (rad)
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// position and velocity fusion
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float gps_vel_noise; // observation noise for gps velocity fusion (m/sec)
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float gps_pos_noise; // observation noise for gps position fusion (m)
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float pos_noaid_noise; // observation noise for non-aiding position fusion (m)
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float baro_noise; // observation noise for barometric height fusion (m)
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float baro_innov_gate; // barometric height innovation consistency gate size (STD)
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float posNE_innov_gate; // GPS horizontal position innovation consistency gate size (STD)
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float vel_innov_gate; // GPS velocity innovation consistency gate size (STD)
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float hgt_reset_lim; // The maximum 1-sigma uncertainty in height that can be tolerated before the height state is reset (m)
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float gps_vel_noise{5.0e-1f}; // observation noise for gps velocity fusion (m/sec)
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float gps_pos_noise{0.5f}; // observation noise for gps position fusion (m)
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float pos_noaid_noise{10.0f}; // observation noise for non-aiding position fusion (m)
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float baro_noise{2.0f}; // observation noise for barometric height fusion (m)
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float baro_innov_gate{5.0f}; // barometric height innovation consistency gate size (STD)
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float posNE_innov_gate{5.0f}; // GPS horizontal position innovation consistency gate size (STD)
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float vel_innov_gate{5.0f}; // GPS velocity innovation consistency gate size (STD)
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float hgt_reset_lim{0.0f}; // The maximum 1-sigma uncertainty in height that can be tolerated before the height state is reset (m)
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// magnetometer fusion
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float mag_heading_noise; // measurement noise used for simple heading fusion (rad)
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float mag_noise; // measurement noise used for 3-axis magnetoemeter fusion (Gauss)
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float mag_declination_deg; // magnetic declination (degrees)
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float heading_innov_gate; // heading fusion innovation consistency gate size (STD)
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float mag_innov_gate; // magnetometer fusion innovation consistency gate size (STD)
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int mag_declination_source; // bitmask used to control the handling of declination data
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int mag_fusion_type; // integer used to specify the type of magnetometer fusion used
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float mag_heading_noise{3.0e-1f}; // measurement noise used for simple heading fusion (rad)
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float mag_noise{5.0e-2f}; // measurement noise used for 3-axis magnetoemeter fusion (Gauss)
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float mag_declination_deg{0.0f}; // magnetic declination (degrees)
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float heading_innov_gate{2.6f}; // heading fusion innovation consistency gate size (STD)
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float mag_innov_gate{3.0f}; // magnetometer fusion innovation consistency gate size (STD)
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int mag_declination_source{7}; // bitmask used to control the handling of declination data
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int mag_fusion_type{0}; // integer used to specify the type of magnetometer fusion used
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// airspeed fusion
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float tas_innov_gate; // True Airspeed Innovation consistency gate size in standard deciation
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float eas_noise; // EAS measurement noise standard deviation used for airspeed fusion [m/s]
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float tas_innov_gate{5.0f}; // True Airspeed Innovation consistency gate size in standard deciation
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float eas_noise{1.4f}; // EAS measurement noise standard deviation used for airspeed fusion [m/s]
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// synthetic sideslip fusion
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float beta_innov_gate; // synthetic sideslip innovation consistency gate size in standard deviation (STD)
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float beta_noise; // synthetic sideslip noise (rad)
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float beta_avg_ft_us; // The average time between synthetic sideslip measurements (usec)
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// synthetic sideslip fusion
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float beta_innov_gate{5.0f}; // synthetic sideslip innovation consistency gate size in standard deviation (STD)
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float beta_noise{0.3f}; // synthetic sideslip noise (rad)
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float beta_avg_ft_us{1000000.0f}; // The average time between synthetic sideslip measurements (usec)
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// range finder fusion
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float range_noise; // observation noise for range finder measurements (m)
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float range_innov_gate; // range finder fusion innovation consistency gate size (STD)
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float rng_gnd_clearance; // minimum valid value for range when on ground (m)
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float rng_sens_pitch; // Pitch offset of the range sensor (rad). Sensor points out along Z axis when offset is zero. Positive rotation is RH about Y axis.
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float range_noise_scaler; // scaling from range measurement to noise (m/m)
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float range_noise{0.1f}; // observation noise for range finder measurements (m)
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float range_innov_gate{5.0f}; // range finder fusion innovation consistency gate size (STD)
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float rng_gnd_clearance{0.1f}; // minimum valid value for range when on ground (m)
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float rng_sens_pitch{0.0f}; // Pitch offset of the range sensor (rad). Sensor points out along Z axis when offset is zero. Positive rotation is RH about Y axis.
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float range_noise_scaler{0.0f}; // scaling from range measurement to noise (m/m)
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// vision position fusion
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float ev_innov_gate; // vision estimator fusion innovation consistency gate size (STD)
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float ev_innov_gate{5.0f}; // vision estimator fusion innovation consistency gate size (STD)
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// optical flow fusion
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float flow_noise; // observation noise for optical flow LOS rate measurements (rad/sec)
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float flow_noise_qual_min; // observation noise for optical flow LOS rate measurements when flow sensor quality is at the minimum useable (rad/sec)
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int flow_qual_min; // minimum acceptable quality integer from the flow sensor
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float flow_innov_gate; // optical flow fusion innovation consistency gate size (STD)
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float flow_rate_max; // maximum valid optical flow rate (rad/sec)
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float flow_noise{0.15f}; // observation noise for optical flow LOS rate measurements (rad/sec)
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float flow_noise_qual_min{0.5f}; // observation noise for optical flow LOS rate measurements when flow sensor quality is at the minimum useable (rad/sec)
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int flow_qual_min{1}; // minimum acceptable quality integer from the flow sensor
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float flow_innov_gate{3.0f}; // optical flow fusion innovation consistency gate size (STD)
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float flow_rate_max{2.5f}; // maximum valid optical flow rate (rad/sec)
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// these parameters control the strictness of GPS quality checks used to determine uf the GPS is
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// good enough to set a local origin and commence aiding
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int gps_check_mask; // bitmask used to control which GPS quality checks are used
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float req_hacc; // maximum acceptable horizontal position error
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float req_vacc; // maximum acceptable vertical position error
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float req_sacc; // maximum acceptable speed error
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int req_nsats; // minimum acceptable satellite count
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float req_gdop; // maximum acceptable geometric dilution of precision
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float req_hdrift; // maximum acceptable horizontal drift speed
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float req_vdrift; // maximum acceptable vertical drift speed
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int gps_check_mask{21}; // bitmask used to control which GPS quality checks are used
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float req_hacc{5.0f}; // maximum acceptable horizontal position error
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float req_vacc{8.0f}; // maximum acceptable vertical position error
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float req_sacc{1.0f}; // maximum acceptable speed error
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int req_nsats{6}; // minimum acceptable satellite count
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float req_gdop{2.0f}; // maximum acceptable geometric dilution of precision
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float req_hdrift{0.3f}; // maximum acceptable horizontal drift speed
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float req_vdrift{0.5f}; // maximum acceptable vertical drift speed
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// XYZ offset of sensors in body axes (m)
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Vector3f imu_pos_body; // xyz position of IMU in body frame (m)
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@@ -277,142 +277,24 @@ struct parameters {
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Vector3f ev_pos_body; // xyz position of VI-sensor focal point in body frame (m)
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// output complementary filter tuning
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float vel_Tau; // velocity state correction time constant (1/sec)
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float pos_Tau; // postion state correction time constant (1/sec)
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float vel_Tau{0.25f}; // velocity state correction time constant (1/sec)
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float pos_Tau{0.25f}; // postion state correction time constant (1/sec)
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// accel bias learning control
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float acc_bias_lim; // maximum accel bias magnitude (m/s/s)
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float acc_bias_learn_acc_lim; // learning is disabled if the magnitude of the IMU acceleration vector is greeater than this (m/sec**2)
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float acc_bias_learn_gyr_lim; // learning is disabled if the magnitude of the IMU angular rate vector is greeater than this (rad/sec)
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float acc_bias_learn_tc; // time constant used to control the decaying envelope filters applied to the accel and gyro magnitudes (sec)
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float acc_bias_lim{0.4f}; // maximum accel bias magnitude (m/s/s)
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float acc_bias_learn_acc_lim{25.0f}; // learning is disabled if the magnitude of the IMU acceleration vector is greeater than this (m/sec**2)
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float acc_bias_learn_gyr_lim{3.0f}; // learning is disabled if the magnitude of the IMU angular rate vector is greeater than this (rad/sec)
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float acc_bias_learn_tc{0.5f}; // time constant used to control the decaying envelope filters applied to the accel and gyro magnitudes (sec)
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unsigned no_gps_timeout_max; // maximum time we allow dead reckoning while both gps position and velocity measurements are being
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// rejected before attempting to reset the states to the GPS measurement (usec)
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unsigned no_aid_timeout_max; // maximum lapsed time from last fusion of measurements that constrain drift before
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// the EKF will report that it is dead-reckoning (usec)
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unsigned no_gps_timeout_max{7000000}; // maximum time we allow dead reckoning while both gps position and velocity measurements are being
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// rejected before attempting to reset the states to the GPS measurement (usec)
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unsigned no_aid_timeout_max{1000000}; // maximum lapsed time from last fusion of measurements that constrain drift before
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// the EKF will report that it is dead-reckoning (usec)
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// multi-rotor drag specific force fusion
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float drag_noise; // observation noise for drag specific force measurements (m/sec**2)
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float bcoef_x; // ballistic coefficient along the X-axis (kg/m**2)
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float bcoef_y; // ballistic coefficient along the Y-axis (kg/m**2)
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// Initialize parameter values. Initialization must be accomplished in the constructor to allow C99 compiler compatibility.
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parameters()
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{
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// measurement source control
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fusion_mode = MASK_USE_GPS;
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vdist_sensor_type = VDIST_SENSOR_BARO;
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sensor_interval_min_ms = 20;
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// measurement time delays
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mag_delay_ms = 0.0f;
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baro_delay_ms = 0.0f;
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gps_delay_ms = 200.0f;
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airspeed_delay_ms = 200.0f;
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flow_delay_ms = 5.0f;
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range_delay_ms = 5.0f;
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ev_delay_ms = 100.0f;
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// input noise
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gyro_noise = 1.5e-2f;
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accel_noise = 3.5e-1f;
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// process noise
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gyro_bias_p_noise = 1.0e-3f;
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accel_bias_p_noise = 3.0e-3f;
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mage_p_noise = 1.0e-3f;
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magb_p_noise = 1.0e-4f;
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wind_vel_p_noise = 1.0e-1f;
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terrain_p_noise = 5.0f;
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terrain_gradient = 0.5f;
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// initialisation errors
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switch_on_gyro_bias = 0.1f;
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switch_on_accel_bias = 0.2f;
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initial_tilt_err = 0.1f;
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// position and velocity fusion
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gps_vel_noise = 5.0e-1f;
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gps_pos_noise = 0.5f;
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pos_noaid_noise = 10.0f;
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baro_noise = 2.0f;
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baro_innov_gate = 5.0f;
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posNE_innov_gate = 5.0f;
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vel_innov_gate = 5.0f;
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hgt_reset_lim = 0.0f;
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// magnetometer fusion
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mag_heading_noise = 3.0e-1f;
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mag_noise = 5.0e-2f;
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mag_declination_deg = 0.0f;
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heading_innov_gate = 2.6f;
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mag_innov_gate = 3.0f;
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mag_declination_source = 7;
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mag_fusion_type = 0;
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// airspeed fusion
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tas_innov_gate = 5.0f;
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eas_noise = 1.4f;
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// synthetic sideslip fusion
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beta_innov_gate = 5.0f;
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beta_noise = 0.3f;
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beta_avg_ft_us = 1000000.0f; //1 Hz
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// range finder fusion
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range_noise = 0.1f;
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range_innov_gate = 5.0f;
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rng_gnd_clearance = 0.1f;
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rng_sens_pitch = 0.0f;
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range_noise_scaler = 0.0f;
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// vision position fusion
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ev_innov_gate = 5.0f;
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// optical flow fusion
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flow_noise = 0.15f;
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flow_noise_qual_min = 0.5f;
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flow_qual_min = 1;
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flow_innov_gate = 3.0f;
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flow_rate_max = 2.5f;
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// GPS quality checks
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gps_check_mask = 21;
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req_hacc = 5.0f;
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req_vacc = 8.0f;
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req_sacc = 1.0f;
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req_nsats = 6;
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req_gdop = 2.0f;
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req_hdrift = 0.3f;
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req_vdrift = 0.5f;
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// XYZ offset of sensors in body axes (m)
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imu_pos_body = {};
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gps_pos_body = {};
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rng_pos_body = {};
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flow_pos_body = {};
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ev_pos_body = {};
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// output complementary filter tuning time constants
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vel_Tau = 0.25f;
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pos_Tau = 0.25f;
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// accel bias state limiting
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acc_bias_lim = 0.4f;
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acc_bias_learn_acc_lim = 25.0f;
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acc_bias_learn_gyr_lim = 3.0f;
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acc_bias_learn_tc = 0.5f;
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// dead reckoning timers
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no_gps_timeout_max = 7e6;
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no_aid_timeout_max = 1e6;
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// multi-rotor drag specific force fusion
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drag_noise = 2.5f;
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bcoef_x = 25.0f;
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bcoef_y = 25.0f;
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}
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float drag_noise{2.5f}; // observation noise for drag specific force measurements (m/sec**2)
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float bcoef_x{25.0f}; // ballistic coefficient along the X-axis (kg/m**2)
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float bcoef_y{25.0f}; // ballistic coefficient along the Y-axis (kg/m**2)
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};
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struct stateSample {
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@@ -463,7 +345,7 @@ union innovation_fault_status_u {
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bool reject_sideslip: 1; // 8 - true if the synthetic sideslip observation has been rejected
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bool reject_hagl: 1; // 9 - true if the height above ground observation has been rejected
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bool reject_optflow_X: 1; // 10 - true if the X optical flow observation has been rejected
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bool reject_optflow_Y: 1; // 11 - true if the Y optical flow observation has been rejected
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bool reject_optflow_Y: 1; // 11 - true if the Y optical flow observation has been rejected
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} flags;
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uint16_t value;
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@@ -510,21 +392,21 @@ union filter_control_status_u {
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};
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union ekf_solution_status {
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struct {
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uint16_t attitude : 1; // 0 - True if the attitude estimate is good
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uint16_t velocity_horiz : 1; // 1 - True if the horizontal velocity estimate is good
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uint16_t velocity_vert : 1; // 2 - True if the vertical velocity estimate is good
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uint16_t pos_horiz_rel : 1; // 3 - True if the horizontal position (relative) estimate is good
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uint16_t pos_horiz_abs : 1; // 4 - True if the horizontal position (absolute) estimate is good
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uint16_t pos_vert_abs : 1; // 5 - True if the vertical position (absolute) estimate is good
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uint16_t pos_vert_agl : 1; // 6 - True if the vertical position (above ground) estimate is good
|
||||
uint16_t const_pos_mode : 1; // 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
|
||||
uint16_t pred_pos_horiz_rel : 1; // 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
|
||||
uint16_t pred_pos_horiz_abs : 1; // 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
|
||||
uint16_t gps_glitch : 1; // 10 - True if the EKF has detected a GPS glitch
|
||||
uint16_t accel_error : 1; // 11 - True if the EKF has detected bad accelerometer data
|
||||
} flags;
|
||||
uint16_t value;
|
||||
struct {
|
||||
uint16_t attitude : 1; // 0 - True if the attitude estimate is good
|
||||
uint16_t velocity_horiz : 1; // 1 - True if the horizontal velocity estimate is good
|
||||
uint16_t velocity_vert : 1; // 2 - True if the vertical velocity estimate is good
|
||||
uint16_t pos_horiz_rel : 1; // 3 - True if the horizontal position (relative) estimate is good
|
||||
uint16_t pos_horiz_abs : 1; // 4 - True if the horizontal position (absolute) estimate is good
|
||||
uint16_t pos_vert_abs : 1; // 5 - True if the vertical position (absolute) estimate is good
|
||||
uint16_t pos_vert_agl : 1; // 6 - True if the vertical position (above ground) estimate is good
|
||||
uint16_t const_pos_mode : 1; // 7 - True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
|
||||
uint16_t pred_pos_horiz_rel : 1; // 8 - True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
|
||||
uint16_t pred_pos_horiz_abs : 1; // 9 - True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
|
||||
uint16_t gps_glitch : 1; // 10 - True if the EKF has detected a GPS glitch
|
||||
uint16_t accel_error : 1; // 11 - True if the EKF has detected bad accelerometer data
|
||||
} flags;
|
||||
uint16_t value;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user