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SensorSimulator

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This commit is contained in:
kamilritz
2019-12-16 13:40:01 +01:00
committed by Mathieu Bresciani
parent 85e0e6e89c
commit 6b25dbd6c7
5 changed files with 305 additions and 124 deletions
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test/CMakeLists.txt
+5 -1
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@@ -33,15 +33,19 @@
include(gtest.cmake)
add_library(SENSOR_SIMULATOR SensorSimulator.cpp)
target_link_libraries(SENSOR_SIMULATOR ecl_EKF)
set(SRCS
main.cpp
test_EKF_basics.cpp
test_EKF_ringbuffer.cpp
test_EKF_imuSampling.cpp
test_AlphaFilter.cpp
test_SensorSimulator.cpp
)
add_executable(ECL_GTESTS ${SRCS})
target_link_libraries(ECL_GTESTS gtest_main ecl_EKF)
target_link_libraries(ECL_GTESTS gtest_main ecl_EKF SENSOR_SIMULATOR)
add_test(NAME ECL_GTESTS COMMAND ECL_GTESTS)
test/SensorSimulator.cpp
+89
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@@ -0,0 +1,89 @@
#include "SensorSimulator.h"
namespace simulator
{
SensorSimulator::SensorSimulator(Ekf* ekf)
{
_ekf = ekf;
setGpsMessageToDefaul();
}
SensorSimulator::~SensorSimulator()
{
}
void SensorSimulator::setGpsMessageToDefaul()
{
// setup gps message to reasonable default values
_gps_message.time_usec = 0;
_gps_message.lat = 473566094;
_gps_message.lon = 85190237;
_gps_message.alt = 422056;
_gps_message.yaw = 0.0f;
_gps_message.yaw_offset = 0.0f;
_gps_message.fix_type = 3;
_gps_message.eph = 0.5f;
_gps_message.epv = 0.8f;
_gps_message.sacc = 0.2f;
_gps_message.vel_m_s = 0.0;
_gps_message.vel_ned[0] = 0.0f;
_gps_message.vel_ned[1] = 0.0f;
_gps_message.vel_ned[2] = 0.0f;
_gps_message.vel_ned_valid = 1;
_gps_message.nsats = 16;
_gps_message.pdop = 0.0f;
}
void SensorSimulator::update_with_const_sensors(uint32_t duration_us,
Vector3f ang_vel, Vector3f accel,
Vector3f mag_data, float baro_data)
{
// store start time
uint32_t start_time_us = _t_us;
// compute update time step such that we can update the basic sensor at different rates
_update_dt_us = gcd(_imu_dt_us, gcd(_mag_dt_us, gcd(_baro_dt_us,_gps_dt_us)));
// update EKF with synthetic sensor measurements
for( ; _t_us < start_time_us+duration_us; _t_us += _update_dt_us)
{
// Check which sensors update we should do
if(_fuse_imu && !(_t_us %_imu_dt_us))
{
// push imu data into estimator
imuSample imu_sample_new;
imu_sample_new.time_us = _t_us;
imu_sample_new.delta_ang_dt = _imu_dt_us * 1.e-6f;
imu_sample_new.delta_ang = ang_vel * imu_sample_new.delta_ang_dt;
imu_sample_new.delta_vel_dt = _imu_dt_us * 1.e-6f;
imu_sample_new.delta_vel = accel * imu_sample_new.delta_vel_dt;
_ekf->setIMUData(imu_sample_new);
_counter_imu++;
}
if(_fuse_baro && !(_t_us % _baro_dt_us))
{
_ekf->setBaroData(_t_us,baro_data);
_counter_baro++;
}
if(_fuse_mag && !(_t_us % _mag_dt_us))
{
float mag[3];
mag_data.copyTo(mag);
_ekf->setMagData(_t_us,mag);
_counter_mag++;
}
if(_fuse_gps && !(_t_us % _gps_dt_us))
{
_gps_message.time_usec = _t_us;
_ekf->setGpsData(_t_us,_gps_message);
_counter_mag++;
}
_ekf->update();
}
}
} // end of namespace simulator
test/SensorSimulator.h
+114
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@@ -0,0 +1,114 @@
/****************************************************************************
*
* Copyright (c) 2019 ECL Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* This class is providing methods to feed the ECL EKF with measurement.
* It takes a pointer to the Ekf object and will manipulate the object
* by call set*Data functions.
* It simulates the time to allow for sensor data being set at certain rate
* and also calls the update method of the EKF
* @author Kamil Ritz <ka.ritz@hotmail.com>
*/
#pragma once
#include "EKF/ekf.h"
#include <math.h>
namespace simulator
{
class SensorSimulator
{
public:
SensorSimulator(Ekf* ekf);
~SensorSimulator();
void update_with_const_sensors(uint32_t duration_us,
Vector3f ang_vel = Vector3f{0.0f,0.0f,0.0f},
Vector3f accel = Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G},
Vector3f mag_data = Vector3f{0.2f, 0.0f, 0.4f},
float baro_data = 122.2f);
void setGpsFusionTrue(){ _fuse_gps = true; }
void setGpsFusionFalse(){ _fuse_gps = false; }
private:
Ekf* _ekf;
// current time
uint32_t _t_us{0};
// Basics sensors
const uint32_t _imu_dt_us{4000}; // 250 Hz Period between IMU updates
const uint32_t _baro_dt_us{12500}; // 80 Hz Period between barometer updates
const uint32_t _mag_dt_us{12500}; // 80 Hz Period between magnetometer updates
const uint32_t _gps_dt_us{200000}; // 5 Hz Period between GPS updates
// const uint32_t _flow_dt_us{20000}; // 50 Hz Period between Flow updates
// const uint32_t _ev_dt_us{40000}; // 25 Hz Period between external vision updates
uint32_t _update_dt_us{}; // greatest common divider of all basic sensor periods
// Flags that control if a sensor is fused
bool _fuse_imu{true};
bool _fuse_baro{true};
bool _fuse_mag{true};
// Not expected to be fused from beginning
bool _fuse_gps{false};
// bool _fuse_flow{false};
// bool _fuse_ev{false};
gps_message _gps_message{};
// used for debugging until now, replace with tests
// counter of how many sensor measurement are put into Ekf
uint32_t _counter_imu{0};
uint32_t _counter_baro{0};
uint32_t _counter_mag{0};
void setGpsMessageToDefaul();
};
// Compute greatest common divider
inline uint32_t gcd(uint32_t a, uint32_t b)
{
return b == 0 ? a : gcd(b, a % b);
}
} // end of namespace
test/test_EKF_basics.cpp
+29 -123
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@@ -34,128 +34,34 @@
#include <gtest/gtest.h>
#include <math.h>
#include "EKF/ekf.h"
#include "SensorSimulator.h"
using namespace simulator;
class EkfInitializationTest : public ::testing::Test {
public:
Ekf _ekf{};
Ekf* _ekf;
SensorSimulator* _sensor_simulator;
// Basics sensors
const uint32_t _imu_dt_us{4000}; // 250 Hz Period between IMU updates
const uint32_t _baro_dt_us{12500}; // 80 Hz Period between barometer updates
const uint32_t _mag_dt_us{12500}; // 80 Hz Period between magnetometer updates
const uint32_t _gps_dt_us{200000}; // 5 Hz Period between GPS updates
// Flags that control if a sensor is fused
bool _fuse_imu{true};
bool _fuse_baro{true};
bool _fuse_mag{true};
bool _fuse_gps{false}; // GPS measurements are expected to not come in from beginning
// GPS message
gps_message _gps_message{};
uint32_t _update_dt_us{}; // greatest common divider of all basic sensor periods
const uint32_t _init_duration_us{2000000}; // 2s Duration of
// counter of how many sensor measurement are put into Ekf
uint32_t _counter_imu{0};
uint32_t _counter_baro{0};
uint32_t _counter_mag{0};
uint32_t _t_us{0};
// Duration of initalization with only providing baro,mag and IMU
const uint32_t _init_duration_us{2000000}; // 2s
// Setup the Ekf with synthetic measurements
void SetUp() override
{
_ekf = new Ekf();
_ekf->init(0);
_sensor_simulator = new SensorSimulator(_ekf);
_ekf.init(0);
// setup gps message to reasonable default values
_gps_message.time_usec = 0;
_gps_message.lat = 473566094;
_gps_message.lon = 85190237;
_gps_message.alt = 422056;
_gps_message.yaw = 0.0f;
_gps_message.yaw_offset = 0.0f;
_gps_message.fix_type = 3;
_gps_message.eph = 0.5f;
_gps_message.epv = 0.8f;
_gps_message.sacc = 0.2f;
_gps_message.vel_m_s = 0.0;
_gps_message.vel_ned[0] = 0.0f;
_gps_message.vel_ned[1] = 0.0f;
_gps_message.vel_ned[2] = 0.0f;
_gps_message.vel_ned_valid = 1;
_gps_message.nsats = 16;
_gps_message.pdop = 0.0f;
update_with_const_sensors(_init_duration_us);
// output how many sensor measurement were put into the EKF
// std::cout << "Initialized EKF with:" << std::endl;
// std::cout << "update_dt_us: " << _update_dt_us << std::endl;
// std::cout << "counter_imu: " << _counter_imu << std::endl
// << "counter_baro: " << _counter_baro << std::endl
// << "counter_mag: " << _counter_mag << std::endl;
}
void update_with_const_sensors(uint32_t duration_us,
Vector3f ang_vel = Vector3f{0.0f,0.0f,0.0f},
Vector3f accel = Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G},
Vector3f mag_data = Vector3f{0.2f, 0.0f, 0.4f},
float baro_data = 122.2f)
{
// store start time
uint32_t start_time_us = _t_us;
// compute update time step such that we can update the basic sensor at different rates
_update_dt_us = std::__gcd(_imu_dt_us,std::__gcd(_mag_dt_us,std::__gcd(_baro_dt_us,_gps_dt_us)));
// update EKF with synthetic sensor measurements
for( ; _t_us < start_time_us+duration_us; _t_us += _update_dt_us)
{
// Check which sensors update we should do
if(_fuse_imu && !(_t_us %_imu_dt_us))
{
// push imu data into estimator
imuSample imu_sample_new;
imu_sample_new.time_us = _t_us;
imu_sample_new.delta_ang_dt = _imu_dt_us * 1.e-6f;
imu_sample_new.delta_ang = ang_vel * imu_sample_new.delta_ang_dt;
imu_sample_new.delta_vel_dt = _imu_dt_us * 1.e-6f;
imu_sample_new.delta_vel = accel * imu_sample_new.delta_vel_dt;
_ekf.setIMUData(imu_sample_new);
_counter_imu++;
}
if(_fuse_baro && !(_t_us % _baro_dt_us))
{
_ekf.setBaroData(_t_us,baro_data);
_counter_baro++;
}
if(_fuse_mag && !(_t_us % _mag_dt_us))
{
float mag[3];
mag_data.copyTo(mag);
_ekf.setMagData(_t_us,mag);
_counter_mag++;
}
if(_fuse_gps && !(_t_us % _gps_dt_us))
{
_gps_message.time_usec = _t_us;
_ekf.setGpsData(_t_us,_gps_message);
_counter_mag++;
}
_ekf.update();
}
_sensor_simulator->update_with_const_sensors(_init_duration_us);
}
// Use this method to clean up any memory, network etc. after each test
void TearDown() override
{
delete _sensor_simulator;
delete _ekf;
}
};
@@ -164,7 +70,7 @@ TEST_F(EkfInitializationTest, tiltAlign)
{
// GIVEN: reasonable static sensor data for some duration
// THEN: EKF should tilt align
EXPECT_EQ(true,_ekf.attitude_valid());
EXPECT_EQ(true,_ekf->attitude_valid());
}
TEST_F(EkfInitializationTest, initialControlMode)
@@ -172,7 +78,7 @@ TEST_F(EkfInitializationTest, initialControlMode)
// GIVEN: reasonable static sensor data for some duration
// THEN: EKF control status should be reasonable
filter_control_status_u control_status;
_ekf.get_control_mode(&control_status.value);
_ekf->get_control_mode(&control_status.value);
EXPECT_EQ(1, (int) control_status.flags.tilt_align);
EXPECT_EQ(1, (int) control_status.flags.yaw_align);
@@ -205,16 +111,16 @@ TEST_F(EkfInitializationTest, convergesToZero)
{
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// WHEN: Added more defautl sensor measurements
update_with_const_sensors(4000000); // for further 4s
_sensor_simulator->update_with_const_sensors(4000000); // for further 4s
float converged_pos[3];
float converged_vel[3];
float converged_accel_bias[3];
float converged_gyro_bias[3];
_ekf.get_position(converged_pos);
_ekf.get_velocity(converged_vel);
_ekf.get_accel_bias(converged_accel_bias);
_ekf.get_gyro_bias(converged_gyro_bias);
_ekf->get_position(converged_pos);
_ekf->get_velocity(converged_vel);
_ekf->get_accel_bias(converged_accel_bias);
_ekf->get_gyro_bias(converged_gyro_bias);
// THEN: EKF should stay or converge to zero
for(int i=0; i<3; ++i)
@@ -231,12 +137,12 @@ TEST_F(EkfInitializationTest, gpsFusion)
// GIVEN: initialized EKF with default IMU, baro and mag input for 2s
// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec
_fuse_gps = true;
update_with_const_sensors(11000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}); // for further 3s
_sensor_simulator->setGpsFusionTrue();
_sensor_simulator->update_with_const_sensors(11000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}); // for further 3s
// THEN: EKF should fuse GPS, but no other position sensor
filter_control_status_u control_status;
_ekf.get_control_mode(&control_status.value);
_ekf->get_control_mode(&control_status.value);
EXPECT_EQ(1, (int) control_status.flags.tilt_align);
EXPECT_EQ(1, (int) control_status.flags.yaw_align);
EXPECT_EQ(1, (int) control_status.flags.gps);
@@ -270,17 +176,17 @@ TEST_F(EkfInitializationTest, accleBiasEstimation)
// WHEN: Added more sensor measurements with accel bias and gps measurements
Vector3f accel_bias = {0.0f,0.0f,0.1f};
_fuse_gps = true;
update_with_const_sensors(10000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}+accel_bias); // for further 10s
_sensor_simulator->setGpsFusionTrue();
_sensor_simulator->update_with_const_sensors(10000000,Vector3f{0.0f,0.0f,0.0f},Vector3f{0.0f,0.0f,-CONSTANTS_ONE_G}+accel_bias); // for further 10s
float converged_pos[3];
float converged_vel[3];
float converged_accel_bias[3];
float converged_gyro_bias[3];
_ekf.get_position(converged_pos);
_ekf.get_velocity(converged_vel);
_ekf.get_accel_bias(converged_accel_bias);
_ekf.get_gyro_bias(converged_gyro_bias);
_ekf->get_position(converged_pos);
_ekf->get_velocity(converged_vel);
_ekf->get_accel_bias(converged_accel_bias);
_ekf->get_gyro_bias(converged_gyro_bias);
// THEN: EKF should estimate bias correctelly
for(int i=0; i<3; ++i)
test/test_SensorSimulator.cpp
+68
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@@ -0,0 +1,68 @@
/****************************************************************************
*
* Copyright (c) 2019 ECL Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <math.h>
#include "SensorSimulator.h"
#include "EKF/ekf.h"
using namespace simulator;
class SensorSimulatorTest : public ::testing::Test {
public:
// Ekf* _ekf;
// SensorSimulator* _sensor_simulator;
void SetUp() override
{
// _ekf = new Ekf();
// _ekf->init(0);
}
void TearDown() override
{
// delete _sensor_simulator;
// delete _ekf;
}
};
TEST_F(SensorSimulatorTest, greatestCommonDivider)
{
// Test gcd function with some example
EXPECT_EQ(gcd(uint32_t(3), uint32_t(402)), uint32_t(3));
EXPECT_EQ(gcd(uint32_t(3), uint32_t(401)), uint32_t(1));
}