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EKF: Fix IMU bias compensation scale error in output filter

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Delta angle and velocities are calculated assuming data is at the filter update rate, not the IMU update rate
This commit is contained in:
Paul Riseborough
2016-05-04 13:59:18 +10:00
parent fd109b00ab
commit 5523a4f225
1 changed files with 9 additions and 4 deletions
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EKF/ekf.cpp
+9 -4
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@@ -546,6 +546,10 @@ void Ekf::predictState()
constrainStates();
// calculate an average filter update time
float input = 0.5f*(_imu_sample_delayed.delta_vel_dt + _imu_sample_delayed.delta_ang_dt);
// filter and limit input between -50% and +100% of nominal value
input = math::constrain(input,0.0005f * (float)(FILTER_UPDATE_PERRIOD_MS),0.002f * (float)(FILTER_UPDATE_PERRIOD_MS));
_dt_ekf_avg = 0.99f*_dt_ekf_avg + 0.005f*(_imu_sample_delayed.delta_vel_dt + _imu_sample_delayed.delta_ang_dt);
}
@@ -618,12 +622,13 @@ void Ekf::calculateOutputStates()
// correct delta angles for bias offsets and scale factors
Vector3f delta_angle;
delta_angle(0) = _imu_sample_new.delta_ang(0) - _state.gyro_bias(0);
delta_angle(1) = _imu_sample_new.delta_ang(1) - _state.gyro_bias(1);
delta_angle(2) = _imu_sample_new.delta_ang(2) - _state.gyro_bias(2);
float dt_scale_correction = _dt_imu_avg/_dt_ekf_avg;
delta_angle(0) = _imu_sample_new.delta_ang(0) - _state.gyro_bias(0)*dt_scale_correction;
delta_angle(1) = _imu_sample_new.delta_ang(1) - _state.gyro_bias(1)*dt_scale_correction;
delta_angle(2) = _imu_sample_new.delta_ang(2) - _state.gyro_bias(2)*dt_scale_correction;
// correct delta velocity for bias offsets
Vector3f delta_vel = _imu_sample_new.delta_vel - _state.accel_bias;
Vector3f delta_vel = _imu_sample_new.delta_vel - _state.accel_bias*dt_scale_correction;
// Apply corrections to the delta angle required to track the quaternion states at the EKF fusion time horizon
delta_angle += _delta_angle_corr;