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EKF: Improve covariance prediction stability (#795)

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* EKF: Improve covariance prediction stability

Eliminates collapse of vertical velocity state variance due to rounding errors that can occur under some operating conditions.

* EKF: Fix typo

* test: Fix initialisation test cases

Provide sufficient time for variances to stabilise and fix calculation of reference quaternion for alignment.

* test: Allow for accumulated rounding error in IMU sampling test

* test: Allow sufficient time for quaternion variances to reduce after initial alignment

* test: Increase allowance for tilt alignment delay and inertial nav errors

* test: Increase allowance for tilt alignment delay and inertial nav errors

* adpat reset velocity test

* test: update change indication file

* test: Adjust tests to handle alignment time and prediction errors

* README.md: Add documentation for change indicator test
This commit is contained in:
Paul Riseborough
2020-04-23 22:38:09 +10:00
committed by GitHub
parent 65a4ca9d65
commit 8a9d961f0d
9 changed files with 404 additions and 369 deletions
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test/test_EKF_initialization.cpp
+9 -3
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@@ -49,7 +49,7 @@ class EkfInitializationTest : public ::testing::Test {
SensorSimulator _sensor_simulator;
EkfWrapper _ekf_wrapper;
const float _init_tilt_period = 0.5; // seconds
const float _init_tilt_period = 1.0; // seconds
// GTests is calling this
void SetUp() override
@@ -155,7 +155,10 @@ TEST_F(EkfInitializationTest, initializeWithTilt)
TEST_F(EkfInitializationTest, initializeWithPitch90)
{
const Quatf quat_sim(0.0f, 0.7071068f, 0.0f, 0.7071068f);
const float pitch = math::radians(90.0f);
const float roll = math::radians(0.0f);
const Eulerf euler_angles_sim(roll, pitch, 0.0f);
const Quatf quat_sim(euler_angles_sim);
_sensor_simulator.simulateOrientation(quat_sim);
_sensor_simulator.runSeconds(_init_tilt_period);
@@ -167,7 +170,10 @@ TEST_F(EkfInitializationTest, initializeWithPitch90)
TEST_F(EkfInitializationTest, initializeWithRoll90)
{
const Quatf quat_sim(0.7071068f, 0.7071068f, 0.0f, 0.0f);
const float pitch = math::radians(0.0f);
const float roll = math::radians(90.0f);
const Eulerf euler_angles_sim(roll, pitch, 0.0f);
const Quatf quat_sim(euler_angles_sim);
_sensor_simulator.simulateOrientation(quat_sim);
_sensor_simulator.runSeconds(_init_tilt_period);