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EKF: set global origin method

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EKF: add convergence after global origin reset test
This commit is contained in:
Daniel Agar
2021-02-19 08:59:47 -05:00
parent 81937370ac
commit 63f64b57c1
7 changed files with 147 additions and 71 deletions
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EKF/gps_checks.cpp
+11 -8
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@@ -65,13 +65,17 @@ bool Ekf::collect_gps(const gps_message &gps)
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
const double lat = gps.lat * 1.0e-7;
const double lon = gps.lon * 1.0e-7;
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, correct for the change in position since the EKF started navigationg
if (isHorizontalAidingActive()) {
double est_lat, est_lon;
map_projection_reproject(&_pos_ref, -_state.pos(0), -_state.pos(1), &est_lat, &est_lon);
map_projection_init_timestamped(&_pos_ref, est_lat, est_lon, _time_last_imu);
if (!map_projection_initialized(&_pos_ref)) {
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, correct for the change in position since the EKF started navigating
if (isHorizontalAidingActive()) {
double est_lat;
double est_lon;
map_projection_reproject(&_pos_ref, -_state.pos(0), -_state.pos(1), &est_lat, &est_lon);
map_projection_init_timestamped(&_pos_ref, est_lat, est_lon, _time_last_imu);
}
}
// Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin
@@ -89,7 +93,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// request a reset of the yaw using the new declination
if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
// try to reset the yaw using the EKF-GSF yaw esitimator
// try to reset the yaw using the EKF-GSF yaw estimator
_do_ekfgsf_yaw_reset = true;
_ekfgsf_yaw_reset_time = 0;
@@ -104,7 +108,6 @@ bool Ekf::collect_gps(const gps_message &gps)
_gps_origin_epv = gps.epv;
// if the user has selected GPS as the primary height source, switch across to using it
if (_params.vdist_sensor_type == VDIST_SENSOR_GPS) {
startGpsHgtFusion();
}