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EKF: airspeed fusion derivation test comparison cleanup

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This commit is contained in:
Paul Riseborough
2020-08-15 09:25:43 +10:00
committed by Paul Riseborough
parent ede6204f85
commit 486a461a5e
1 changed files with 10 additions and 11 deletions
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EKF/python/ekf_derivation/generated/tas_fusion_generated_compare.cpp
+10 -11
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@@ -13,11 +13,10 @@ int main()
{ {
// Compare calculation of observation Jacobians and Kalman gains for sympy and matlab generated equations // Compare calculation of observation Jacobians and Kalman gains for sympy and matlab generated equations
SparseVector24f<4,5,6,22,23> Hfusion;
Vector24f H_TAS;
Vector24f Kfusion;
float airspeed_innov_var; float airspeed_innov_var;
Vector24f Kfusion; // Kalman gain vector
Vector24f Hfusion_sympy; Vector24f Hfusion_sympy;
Vector24f Kfusion_sympy; Vector24f Kfusion_sympy;
@@ -56,12 +55,12 @@ int main()
const float HK0 = vn - vwn; const float HK0 = vn - vwn;
const float HK1 = ve - vwe; const float HK1 = ve - vwe;
const float HK2 = ecl::powf(HK0, 2) + ecl::powf(HK1, 2) + ecl::powf(vd, 2); const float HK2 = ecl::powf(HK0, 2) + ecl::powf(HK1, 2) + ecl::powf(vd, 2);
if (HK2 < 1.0f) { const float v_tas_pred = sqrtf(HK2); // predicted airspeed
//const float HK3 = powf(HK2, -1.0F/2.0F);
if (v_tas_pred < 1.0f) {
// calculation can be badly conditioned for very low airspeed values so don't fuse this time // calculation can be badly conditioned for very low airspeed values so don't fuse this time
return 0; return 0;
} }
const float v_tas_pred = sqrtf(HK2); // predicted airspeed
//const float HK3 = powf(HK2, -1.0F/2.0F);
const float HK3 = 1.0f / v_tas_pred; const float HK3 = 1.0f / v_tas_pred;
const float HK4 = HK0*HK3; const float HK4 = HK0*HK3;
const float HK5 = HK1*HK3; const float HK5 = HK1*HK3;
@@ -78,7 +77,7 @@ int main()
const float HK16 = HK3/(-HK10*HK14 + HK10*HK9 + HK12*HK13 - HK13*HK15 + HK6*HK7*vd + R_TAS); const float HK16 = HK3/(-HK10*HK14 + HK10*HK9 + HK12*HK13 - HK13*HK15 + HK6*HK7*vd + R_TAS);
// Observation Jacobians // Observation Jacobians
memset(&Hfusion, 0, sizeof(Hfusion)); SparseVector24f<4,5,6,22,23> Hfusion;
Hfusion.at<4>() = HK4; Hfusion.at<4>() = HK4;
Hfusion.at<5>() = HK5; Hfusion.at<5>() = HK5;
Hfusion.at<6>() = HK3*vd; Hfusion.at<6>() = HK3*vd;
@@ -122,7 +121,7 @@ int main()
SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2.0f*vwn))*0.5f; SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2.0f*vwn))*0.5f;
// Observation Jacobian // Observation Jacobian
memset(&H_TAS, 0, sizeof(H_TAS)); Vector24f H_TAS = {};
H_TAS(4) = SH_TAS[2]; H_TAS(4) = SH_TAS[2];
H_TAS(5) = SH_TAS[1]; H_TAS(5) = SH_TAS[1];
H_TAS(6) = vd*SH_TAS[0]; H_TAS(6) = vd*SH_TAS[0];
@@ -179,13 +178,13 @@ int main()
} else { } else {
diff_fraction = 0.0f; diff_fraction = 0.0f;
} }
if (Hfusion_sympy(row) - H_TAS(row) != 0.0f) { if (Hfusion_sympy(row) - Hfusion_matlab(row) != 0.0f) {
printf("new,old Hfusion(%i) = %e,%e\n",row,Hfusion_sympy(row),H_TAS(row)); printf("new,old Hfusion(%i) = %e,%e\n",row,Hfusion_sympy(row),Hfusion_matlab(row));
} }
if (diff_fraction > max_diff_fraction) { if (diff_fraction > max_diff_fraction) {
max_diff_fraction = diff_fraction; max_diff_fraction = diff_fraction;
max_row = row; max_row = row;
max_old = H_TAS(row); max_old = Hfusion_matlab(row);
max_new = Hfusion_sympy(row); max_new = Hfusion_sympy(row);
} }
} }