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enable estimator state and innovations data logging
This commit is contained in:
Roman
Roman Bapst
parent
86df68e404
commit
8d0022ab1e
@ -50,7 +50,13 @@ Ekf::Ekf():
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_fuse_hor_vel(false),
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_fuse_vert_vel(false),
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_mag_fuse_index(0),
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_time_last_fake_gps(0)
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_time_last_fake_gps(0),
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_vel_pos_innov{},
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_mag_innov{},
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_heading_innov{},
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_vel_pos_innov_var{},
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_mag_innov_var{},
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_heading_innov_var{}
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{
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_earth_rate_NED.setZero();
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_R_prev = matrix::Dcm<float>();
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34
EKF/ekf.h
34
EKF/ekf.h
@ -52,6 +52,32 @@ public:
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bool update();
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// gets the innovations of velocity and position measurements
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// 0-2 vel, 3-5 pos
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void get_vel_pos_innov(float vel_pos_innov[6]);
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// gets the innovations of the earth magnetic field measurements
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void get_mag_innov(float mag_innov[3]);
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// gets the innovations of the heading measurement
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void get_heading_innov(float *heading_innov);
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// gets the innovation variances of velocity and position measurements
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// 0-2 vel, 3-5 pos
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void get_vel_pos_innov_var(float vel_pos_innov_var[6]);
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// gets the innovation variances of the earth magnetic field measurements
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void get_mag_innov_var(float mag_innov_var[3]);
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// gets the innovation variance of the heading measurement
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void get_heading_innov_var(float *heading_innov_var);
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// get the state vector at the delayed time horizon
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void get_state_delayed(float *state);
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// get the diagonal elements of the covariance matrix
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void get_covariances(float *covariances);
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private:
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static const uint8_t _k_num_states = 24;
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@ -75,6 +101,14 @@ private:
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float P[_k_num_states][_k_num_states]; // state covariance matrix
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float _vel_pos_innov[6]; // innovations: 0-2 vel, 3-5 pos
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float _mag_innov[3]; // earth magnetic field innovations
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float _heading_innov; // heading measurement innovation
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float _vel_pos_innov_var[6]; // innovation variances: 0-2 vel, 3-5 pos
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float _mag_innov_var[3]; // earth magnetic field innovation variance
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float _heading_innov_var; // heading measurement innovation variance
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// complementary filter states
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Vector3f _delta_angle_corr;
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Vector3f _delta_vel_corr;
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@ -128,33 +128,33 @@ void Ekf::makeSymmetrical()
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void Ekf::constrainStates()
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{
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for (int i = 0; i < 3; i++) {
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for (int i = 0; i < 3; i++) {
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_state.ang_error(i) = math::constrain(_state.ang_error(i), -1.0f, 1.0f);
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}
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for (int i = 0; i < 3; i++) {
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for (int i = 0; i < 3; i++) {
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_state.vel(i) = math::constrain(_state.vel(i), -1000.0f, 1000.0f);
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}
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for (int i = 0; i < 3; i++) {
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for (int i = 0; i < 3; i++) {
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_state.pos(i) = math::constrain(_state.pos(i), -1.e6f, 1.e6f);
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}
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for (int i = 0; i < 3; i++) {
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for (int i = 0; i < 3; i++) {
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_state.gyro_bias(i) = math::constrain(_state.gyro_bias(i), -0.349066f * _dt_imu_avg, 0.349066f * _dt_imu_avg);
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}
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for (int i = 0; i < 3; i++) {
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for (int i = 0; i < 3; i++) {
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_state.gyro_scale(i) = math::constrain(_state.gyro_scale(i), 0.95f, 1.05f);
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}
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_state.accel_z_bias = math::constrain(_state.accel_z_bias, -1.0f * _dt_imu_avg, 1.0f * _dt_imu_avg);
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for (int i = 0; i < 3; i++) {
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for (int i = 0; i < 3; i++) {
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_state.mag_I(i) = math::constrain(_state.mag_I(i), -1.0f, 1.0f);
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}
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for (int i = 0; i < 3; i++) {
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for (int i = 0; i < 3; i++) {
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_state.mag_B(i) = math::constrain(_state.mag_B(i), -0.5f, 0.5f);
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}
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@ -170,3 +170,87 @@ void Ekf::calcEarthRateNED(Vector3f &omega, double lat_rad) const
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omega(1) = 0.0f;
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omega(2) = -_k_earth_rate * sinf((float)lat_rad);
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}
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// gets the innovations of velocity and position measurements
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// 0-2 vel, 3-5 pos
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void Ekf::get_vel_pos_innov(float vel_pos_innov[6])
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{
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memcpy(vel_pos_innov, _vel_pos_innov, sizeof(float) * 6);
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}
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// writes the innovations of the earth magnetic field measurements
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void Ekf::get_mag_innov(float mag_innov[3])
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{
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memcpy(mag_innov, _mag_innov, 3 * sizeof(float));
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}
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// gets the innovations of the heading measurement
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void Ekf::get_heading_innov(float *heading_innov)
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{
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memcpy(heading_innov, &_heading_innov, sizeof(float));
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}
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// gets the innovation variances of velocity and position measurements
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// 0-2 vel, 3-5 pos
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void Ekf::get_vel_pos_innov_var(float vel_pos_innov_var[6])
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{
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memcpy(vel_pos_innov_var, _vel_pos_innov_var, sizeof(float) * 6);
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}
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// gets the innovation variances of the earth magnetic field measurements
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void Ekf::get_mag_innov_var(float mag_innov_var[3])
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{
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memcpy(mag_innov_var, _mag_innov_var, sizeof(float) * 3);
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}
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// gets the innovation variance of the heading measurement
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void Ekf::get_heading_innov_var(float *heading_innov_var)
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{
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memcpy(heading_innov_var, &_heading_innov_var, sizeof(float));
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}
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// get the state vector at the delayed time horizon
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void Ekf::get_state_delayed(float *state)
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{
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for (int i = 0; i < 3; i++) {
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state[i] = _state.ang_error(i);
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}
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for (int i = 0; i < 3; i++) {
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state[i + 3] = _state.vel(i);
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}
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for (int i = 0; i < 3; i++) {
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state[i + 6] = _state.pos(i);
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}
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for (int i = 0; i < 3; i++) {
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state[i + 9] = _state.gyro_bias(i);
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}
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for (int i = 0; i < 3; i++) {
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state[i + 12] = _state.gyro_scale(i);
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}
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state[15] = _state.accel_z_bias;
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for (int i = 0; i < 3; i++) {
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state[i + 16] = _state.mag_I(i);
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}
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for (int i = 0; i < 3; i++) {
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state[i + 19] = _state.mag_B(i);
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}
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for (int i = 0; i < 2; i++) {
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state[i + 22] = _state.wind_vel(i);
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}
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}
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// get the diagonal elements of the covariance matrix
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void Ekf::get_covariances(float *covariances)
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{
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for (unsigned i = 0; i < _k_num_states; i++) {
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covariances[i] = P[i][i];
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}
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}
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@ -94,6 +94,30 @@ public:
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virtual bool update() = 0;
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// gets the innovations of velocity and position measurements
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// 0-2 vel, 3-5 pos
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virtual void get_vel_pos_innov(float vel_pos_innov[6]) = 0;
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// gets the innovations of the earth magnetic field measurements
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virtual void get_mag_innov(float mag_innov[3]) = 0;
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// gets the innovations of the heading measurement
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virtual void get_heading_innov(float *heading_innov) = 0;
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// gets the innovation variances of velocity and position measurements
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// 0-2 vel, 3-5 pos
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virtual void get_vel_pos_innov_var(float vel_pos_innov_var[6]) = 0;
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// gets the innovation variances of the earth magnetic field measurements
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virtual void get_mag_innov_var(float mag_innov_var[3]) = 0;
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// gets the innovation variance of the heading measurement
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virtual void get_heading_innov_var(float *heading_innov_var) = 0;
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virtual void get_state_delayed(float *state) = 0;
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virtual void get_covariances(float *covariances) = 0;
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// set delta angle imu data
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void setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float *delta_ang, float *delta_vel);
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@ -244,14 +268,13 @@ protected:
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// flags capturing information about severe nummerical problems for various fusions
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struct {
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bool bad_mag_x:1;
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bool bad_mag_y:1;
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bool bad_mag_z:1;
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bool bad_airspeed:1;
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bool bad_sideslip:1;
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bool bad_mag_x: 1;
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bool bad_mag_y: 1;
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bool bad_mag_z: 1;
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bool bad_airspeed: 1;
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bool bad_sideslip: 1;
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} _fault_status;
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void initialiseVariables(uint64_t timestamp);
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void initialiseGPS(struct gps_message *gps);
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@ -272,22 +295,26 @@ public:
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bool position_is_valid();
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void copy_quaternion(float *quat) {
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void copy_quaternion(float *quat)
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{
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for (unsigned i = 0; i < 4; i++) {
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quat[i] = _output_new.quat_nominal(i);
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}
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}
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void copy_velocity(float *vel) {
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void copy_velocity(float *vel)
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{
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for (unsigned i = 0; i < 3; i++) {
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vel[i] = _output_new.vel(i);
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}
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}
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void copy_position(float *pos) {
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void copy_position(float *pos)
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{
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for (unsigned i = 0; i < 3; i++) {
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pos[i] = _output_new.pos(i);
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}
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}
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void copy_timestamp(uint64_t *time_us) {
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void copy_timestamp(uint64_t *time_us)
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{
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*time_us = _imu_time_last;
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}
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@ -61,12 +61,12 @@ void Ekf::fuseMag(uint8_t index)
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SH_MAG[0] = sq(q0) - sq(q1) + sq(q2) - sq(q3);
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SH_MAG[1] = sq(q0) + sq(q1) - sq(q2) - sq(q3);
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SH_MAG[2] = sq(q0) - sq(q1) - sq(q2) + sq(q3);
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SH_MAG[3] = 2*q0*q1 + 2*q2*q3;
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SH_MAG[4] = 2*q0*q3 + 2*q1*q2;
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SH_MAG[5] = 2*q0*q2 + 2*q1*q3;
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SH_MAG[6] = magE*(2*q0*q1 - 2*q2*q3);
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SH_MAG[7] = 2*q1*q3 - 2*q0*q2;
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SH_MAG[8] = 2*q0*q3;
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SH_MAG[3] = 2 * q0 * q1 + 2 * q2 * q3;
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SH_MAG[4] = 2 * q0 * q3 + 2 * q1 * q2;
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SH_MAG[5] = 2 * q0 * q2 + 2 * q1 * q3;
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SH_MAG[6] = magE * (2 * q0 * q1 - 2 * q2 * q3);
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SH_MAG[7] = 2 * q1 * q3 - 2 * q0 * q2;
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SH_MAG[8] = 2 * q0 * q3;
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// rotate magnetometer earth field state into body frame
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matrix::Dcm<float> R_to_body(_state.quat_nominal);
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@ -75,10 +75,9 @@ void Ekf::fuseMag(uint8_t index)
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Vector3f mag_I_rot = R_to_body * _state.mag_I;
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// compute magnetometer innovations
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float mag_innov[3] = {};
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mag_innov[0] = (mag_I_rot(0) + _state.mag_B(0)) - _mag_sample_delayed.mag(0);
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mag_innov[1] = (mag_I_rot(1) + _state.mag_B(1)) - _mag_sample_delayed.mag(1);
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mag_innov[2] = (mag_I_rot(2) + _state.mag_B(2)) - _mag_sample_delayed.mag(2);
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_mag_innov[0] = (mag_I_rot(0) + _state.mag_B(0)) - _mag_sample_delayed.mag(0);
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_mag_innov[1] = (mag_I_rot(1) + _state.mag_B(1)) - _mag_sample_delayed.mag(1);
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_mag_innov[2] = (mag_I_rot(2) + _state.mag_B(2)) - _mag_sample_delayed.mag(2);
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// XXX Do mag checks here!
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@ -88,8 +87,8 @@ void Ekf::fuseMag(uint8_t index)
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// index corresponds to a mag axis (x, y, z)
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if (index == 0) {
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H_MAG[1] = SH_MAG[6] - magD*SH_MAG[2] - magN*SH_MAG[5];
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H_MAG[2] = magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2);
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H_MAG[1] = SH_MAG[6] - magD * SH_MAG[2] - magN * SH_MAG[5];
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H_MAG[2] = magE * SH_MAG[0] + magD * SH_MAG[3] - magN * (SH_MAG[8] - 2 * q1 * q2);
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H_MAG[16] = SH_MAG[1];
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H_MAG[17] = SH_MAG[4];
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H_MAG[18] = SH_MAG[7];
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@ -97,119 +96,241 @@ void Ekf::fuseMag(uint8_t index)
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// intermediate variables
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float SK_MX[4] = {};
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SK_MX[0] = 1/(P[19][19] + R_MAG - P[1][19]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][19]*SH_MAG[1] + P[17][19]*SH_MAG[4] + P[18][19]*SH_MAG[7] + P[2][19]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) - (magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5])*(P[19][1] - P[1][1]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][1]*SH_MAG[1] + P[17][1]*SH_MAG[4] + P[18][1]*SH_MAG[7] + P[2][1]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))) + SH_MAG[1]*(P[19][16] - P[1][16]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][16]*SH_MAG[1] + P[17][16]*SH_MAG[4] + P[18][16]*SH_MAG[7] + P[2][16]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))) + SH_MAG[4]*(P[19][17] - P[1][17]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][17]*SH_MAG[1] + P[17][17]*SH_MAG[4] + P[18][17]*SH_MAG[7] + P[2][17]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))) + SH_MAG[7]*(P[19][18] - P[1][18]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][18]*SH_MAG[1] + P[17][18]*SH_MAG[4] + P[18][18]*SH_MAG[7] + P[2][18]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))) + (magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))*(P[19][2] - P[1][2]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[16][2]*SH_MAG[1] + P[17][2]*SH_MAG[4] + P[18][2]*SH_MAG[7] + P[2][2]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))));
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SK_MX[1] = magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2);
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SK_MX[2] = magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5];
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SK_MX[0] = 1 / (P[19][19] + R_MAG - P[1][19] * (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) + P[16][19] * SH_MAG[1]
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+ P[17][19] * SH_MAG[4] + P[18][19] * SH_MAG[7] + P[2][19] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN *
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(SH_MAG[8] - 2 * q1 * q2)) - (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) * (P[19][1] - P[1][1] *
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(magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) + P[16][1] * SH_MAG[1] + P[17][1] * SH_MAG[4] + P[18][1] * SH_MAG[7] +
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P[2][1] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN * (SH_MAG[8] - 2 * q1 * q2))) + SH_MAG[1] *
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(P[19][16] - P[1][16] * (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) + P[16][16] * SH_MAG[1] + P[17][16] *
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SH_MAG[4] + P[18][16] * SH_MAG[7] + P[2][16] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN *
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(SH_MAG[8] - 2 * q1 * q2))) + SH_MAG[4] * (P[19][17] - P[1][17] * (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) +
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P[16][17] * SH_MAG[1] + P[17][17] * SH_MAG[4] + P[18][17] * SH_MAG[7] + P[2][17] * (magE * SH_MAG[0] + magD * SH_MAG[3]
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- magN * (SH_MAG[8] - 2 * q1 * q2))) + SH_MAG[7] * (P[19][18] - P[1][18] * (magD * SH_MAG[2] - SH_MAG[6] + magN *
|
||||
SH_MAG[5]) + P[16][18] * SH_MAG[1] + P[17][18] * SH_MAG[4] + P[18][18] * SH_MAG[7] + P[2][18] *
|
||||
(magE * SH_MAG[0] + magD * SH_MAG[3] - magN * (SH_MAG[8] - 2 * q1 * q2))) + (magE * SH_MAG[0] + magD * SH_MAG[3] -
|
||||
magN * (SH_MAG[8] - 2 * q1 * q2)) * (P[19][2] - P[1][2] * (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) + P[16][2] *
|
||||
SH_MAG[1] + P[17][2] * SH_MAG[4] + P[18][2] * SH_MAG[7] + P[2][2] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN *
|
||||
(SH_MAG[8] - 2 * q1 * q2))));
|
||||
SK_MX[1] = magE * SH_MAG[0] + magD * SH_MAG[3] - magN * (SH_MAG[8] - 2 * q1 * q2);
|
||||
SK_MX[2] = magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5];
|
||||
SK_MX[3] = SH_MAG[7];
|
||||
|
||||
Kfusion[0] = SK_MX[0]*(P[0][19] + P[0][16]*SH_MAG[1] + P[0][17]*SH_MAG[4] - P[0][1]*SK_MX[2] + P[0][2]*SK_MX[1] + P[0][18]*SK_MX[3]);
|
||||
Kfusion[1] = SK_MX[0]*(P[1][19] + P[1][16]*SH_MAG[1] + P[1][17]*SH_MAG[4] - P[1][1]*SK_MX[2] + P[1][2]*SK_MX[1] + P[1][18]*SK_MX[3]);
|
||||
Kfusion[2] = SK_MX[0]*(P[2][19] + P[2][16]*SH_MAG[1] + P[2][17]*SH_MAG[4] - P[2][1]*SK_MX[2] + P[2][2]*SK_MX[1] + P[2][18]*SK_MX[3]);
|
||||
Kfusion[3] = SK_MX[0]*(P[3][19] + P[3][16]*SH_MAG[1] + P[3][17]*SH_MAG[4] - P[3][1]*SK_MX[2] + P[3][2]*SK_MX[1] + P[3][18]*SK_MX[3]);
|
||||
Kfusion[4] = SK_MX[0]*(P[4][19] + P[4][16]*SH_MAG[1] + P[4][17]*SH_MAG[4] - P[4][1]*SK_MX[2] + P[4][2]*SK_MX[1] + P[4][18]*SK_MX[3]);
|
||||
Kfusion[5] = SK_MX[0]*(P[5][19] + P[5][16]*SH_MAG[1] + P[5][17]*SH_MAG[4] - P[5][1]*SK_MX[2] + P[5][2]*SK_MX[1] + P[5][18]*SK_MX[3]);
|
||||
Kfusion[6] = SK_MX[0]*(P[6][19] + P[6][16]*SH_MAG[1] + P[6][17]*SH_MAG[4] - P[6][1]*SK_MX[2] + P[6][2]*SK_MX[1] + P[6][18]*SK_MX[3]);
|
||||
Kfusion[7] = SK_MX[0]*(P[7][19] + P[7][16]*SH_MAG[1] + P[7][17]*SH_MAG[4] - P[7][1]*SK_MX[2] + P[7][2]*SK_MX[1] + P[7][18]*SK_MX[3]);
|
||||
Kfusion[8] = SK_MX[0]*(P[8][19] + P[8][16]*SH_MAG[1] + P[8][17]*SH_MAG[4] - P[8][1]*SK_MX[2] + P[8][2]*SK_MX[1] + P[8][18]*SK_MX[3]);
|
||||
Kfusion[9] = SK_MX[0]*(P[9][19] + P[9][16]*SH_MAG[1] + P[9][17]*SH_MAG[4] - P[9][1]*SK_MX[2] + P[9][2]*SK_MX[1] + P[9][18]*SK_MX[3]);
|
||||
Kfusion[10] = SK_MX[0]*(P[10][19] + P[10][16]*SH_MAG[1] + P[10][17]*SH_MAG[4] - P[10][1]*SK_MX[2] + P[10][2]*SK_MX[1] + P[10][18]*SK_MX[3]);
|
||||
Kfusion[11] = SK_MX[0]*(P[11][19] + P[11][16]*SH_MAG[1] + P[11][17]*SH_MAG[4] - P[11][1]*SK_MX[2] + P[11][2]*SK_MX[1] + P[11][18]*SK_MX[3]);
|
||||
Kfusion[12] = SK_MX[0]*(P[12][19] + P[12][16]*SH_MAG[1] + P[12][17]*SH_MAG[4] - P[12][1]*SK_MX[2] + P[12][2]*SK_MX[1] + P[12][18]*SK_MX[3]);
|
||||
Kfusion[13] = SK_MX[0]*(P[13][19] + P[13][16]*SH_MAG[1] + P[13][17]*SH_MAG[4] - P[13][1]*SK_MX[2] + P[13][2]*SK_MX[1] + P[13][18]*SK_MX[3]);
|
||||
Kfusion[14] = SK_MX[0]*(P[14][19] + P[14][16]*SH_MAG[1] + P[14][17]*SH_MAG[4] - P[14][1]*SK_MX[2] + P[14][2]*SK_MX[1] + P[14][18]*SK_MX[3]);
|
||||
Kfusion[15] = SK_MX[0]*(P[15][19] + P[15][16]*SH_MAG[1] + P[15][17]*SH_MAG[4] - P[15][1]*SK_MX[2] + P[15][2]*SK_MX[1] + P[15][18]*SK_MX[3]);
|
||||
Kfusion[16] = SK_MX[0]*(P[16][19] + P[16][16]*SH_MAG[1] + P[16][17]*SH_MAG[4] - P[16][1]*SK_MX[2] + P[16][2]*SK_MX[1] + P[16][18]*SK_MX[3]);
|
||||
Kfusion[17] = SK_MX[0]*(P[17][19] + P[17][16]*SH_MAG[1] + P[17][17]*SH_MAG[4] - P[17][1]*SK_MX[2] + P[17][2]*SK_MX[1] + P[17][18]*SK_MX[3]);
|
||||
Kfusion[18] = SK_MX[0]*(P[18][19] + P[18][16]*SH_MAG[1] + P[18][17]*SH_MAG[4] - P[18][1]*SK_MX[2] + P[18][2]*SK_MX[1] + P[18][18]*SK_MX[3]);
|
||||
Kfusion[19] = SK_MX[0]*(P[19][19] + P[19][16]*SH_MAG[1] + P[19][17]*SH_MAG[4] - P[19][1]*SK_MX[2] + P[19][2]*SK_MX[1] + P[19][18]*SK_MX[3]);
|
||||
Kfusion[20] = SK_MX[0]*(P[20][19] + P[20][16]*SH_MAG[1] + P[20][17]*SH_MAG[4] - P[20][1]*SK_MX[2] + P[20][2]*SK_MX[1] + P[20][18]*SK_MX[3]);
|
||||
Kfusion[21] = SK_MX[0]*(P[21][19] + P[21][16]*SH_MAG[1] + P[21][17]*SH_MAG[4] - P[21][1]*SK_MX[2] + P[21][2]*SK_MX[1] + P[21][18]*SK_MX[3]);
|
||||
Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][16]*SH_MAG[1] + P[22][17]*SH_MAG[4] - P[22][1]*SK_MX[2] + P[22][2]*SK_MX[1] + P[22][18]*SK_MX[3]);
|
||||
Kfusion[23] = SK_MX[0]*(P[23][19] + P[23][16]*SH_MAG[1] + P[23][17]*SH_MAG[4] - P[23][1]*SK_MX[2] + P[23][2]*SK_MX[1] + P[23][18]*SK_MX[3]);
|
||||
_mag_innov_var[0] = 1 / SK_MX[0];
|
||||
|
||||
Kfusion[0] = SK_MX[0] * (P[0][19] + P[0][16] * SH_MAG[1] + P[0][17] * SH_MAG[4] - P[0][1] * SK_MX[2] + P[0][2] *
|
||||
SK_MX[1] + P[0][18] * SK_MX[3]);
|
||||
Kfusion[1] = SK_MX[0] * (P[1][19] + P[1][16] * SH_MAG[1] + P[1][17] * SH_MAG[4] - P[1][1] * SK_MX[2] + P[1][2] *
|
||||
SK_MX[1] + P[1][18] * SK_MX[3]);
|
||||
Kfusion[2] = SK_MX[0] * (P[2][19] + P[2][16] * SH_MAG[1] + P[2][17] * SH_MAG[4] - P[2][1] * SK_MX[2] + P[2][2] *
|
||||
SK_MX[1] + P[2][18] * SK_MX[3]);
|
||||
Kfusion[3] = SK_MX[0] * (P[3][19] + P[3][16] * SH_MAG[1] + P[3][17] * SH_MAG[4] - P[3][1] * SK_MX[2] + P[3][2] *
|
||||
SK_MX[1] + P[3][18] * SK_MX[3]);
|
||||
Kfusion[4] = SK_MX[0] * (P[4][19] + P[4][16] * SH_MAG[1] + P[4][17] * SH_MAG[4] - P[4][1] * SK_MX[2] + P[4][2] *
|
||||
SK_MX[1] + P[4][18] * SK_MX[3]);
|
||||
Kfusion[5] = SK_MX[0] * (P[5][19] + P[5][16] * SH_MAG[1] + P[5][17] * SH_MAG[4] - P[5][1] * SK_MX[2] + P[5][2] *
|
||||
SK_MX[1] + P[5][18] * SK_MX[3]);
|
||||
Kfusion[6] = SK_MX[0] * (P[6][19] + P[6][16] * SH_MAG[1] + P[6][17] * SH_MAG[4] - P[6][1] * SK_MX[2] + P[6][2] *
|
||||
SK_MX[1] + P[6][18] * SK_MX[3]);
|
||||
Kfusion[7] = SK_MX[0] * (P[7][19] + P[7][16] * SH_MAG[1] + P[7][17] * SH_MAG[4] - P[7][1] * SK_MX[2] + P[7][2] *
|
||||
SK_MX[1] + P[7][18] * SK_MX[3]);
|
||||
Kfusion[8] = SK_MX[0] * (P[8][19] + P[8][16] * SH_MAG[1] + P[8][17] * SH_MAG[4] - P[8][1] * SK_MX[2] + P[8][2] *
|
||||
SK_MX[1] + P[8][18] * SK_MX[3]);
|
||||
Kfusion[9] = SK_MX[0] * (P[9][19] + P[9][16] * SH_MAG[1] + P[9][17] * SH_MAG[4] - P[9][1] * SK_MX[2] + P[9][2] *
|
||||
SK_MX[1] + P[9][18] * SK_MX[3]);
|
||||
Kfusion[10] = SK_MX[0] * (P[10][19] + P[10][16] * SH_MAG[1] + P[10][17] * SH_MAG[4] - P[10][1] * SK_MX[2] + P[10][2] *
|
||||
SK_MX[1] + P[10][18] * SK_MX[3]);
|
||||
Kfusion[11] = SK_MX[0] * (P[11][19] + P[11][16] * SH_MAG[1] + P[11][17] * SH_MAG[4] - P[11][1] * SK_MX[2] + P[11][2] *
|
||||
SK_MX[1] + P[11][18] * SK_MX[3]);
|
||||
Kfusion[12] = SK_MX[0] * (P[12][19] + P[12][16] * SH_MAG[1] + P[12][17] * SH_MAG[4] - P[12][1] * SK_MX[2] + P[12][2] *
|
||||
SK_MX[1] + P[12][18] * SK_MX[3]);
|
||||
Kfusion[13] = SK_MX[0] * (P[13][19] + P[13][16] * SH_MAG[1] + P[13][17] * SH_MAG[4] - P[13][1] * SK_MX[2] + P[13][2] *
|
||||
SK_MX[1] + P[13][18] * SK_MX[3]);
|
||||
Kfusion[14] = SK_MX[0] * (P[14][19] + P[14][16] * SH_MAG[1] + P[14][17] * SH_MAG[4] - P[14][1] * SK_MX[2] + P[14][2] *
|
||||
SK_MX[1] + P[14][18] * SK_MX[3]);
|
||||
Kfusion[15] = SK_MX[0] * (P[15][19] + P[15][16] * SH_MAG[1] + P[15][17] * SH_MAG[4] - P[15][1] * SK_MX[2] + P[15][2] *
|
||||
SK_MX[1] + P[15][18] * SK_MX[3]);
|
||||
Kfusion[16] = SK_MX[0] * (P[16][19] + P[16][16] * SH_MAG[1] + P[16][17] * SH_MAG[4] - P[16][1] * SK_MX[2] + P[16][2] *
|
||||
SK_MX[1] + P[16][18] * SK_MX[3]);
|
||||
Kfusion[17] = SK_MX[0] * (P[17][19] + P[17][16] * SH_MAG[1] + P[17][17] * SH_MAG[4] - P[17][1] * SK_MX[2] + P[17][2] *
|
||||
SK_MX[1] + P[17][18] * SK_MX[3]);
|
||||
Kfusion[18] = SK_MX[0] * (P[18][19] + P[18][16] * SH_MAG[1] + P[18][17] * SH_MAG[4] - P[18][1] * SK_MX[2] + P[18][2] *
|
||||
SK_MX[1] + P[18][18] * SK_MX[3]);
|
||||
Kfusion[19] = SK_MX[0] * (P[19][19] + P[19][16] * SH_MAG[1] + P[19][17] * SH_MAG[4] - P[19][1] * SK_MX[2] + P[19][2] *
|
||||
SK_MX[1] + P[19][18] * SK_MX[3]);
|
||||
Kfusion[20] = SK_MX[0] * (P[20][19] + P[20][16] * SH_MAG[1] + P[20][17] * SH_MAG[4] - P[20][1] * SK_MX[2] + P[20][2] *
|
||||
SK_MX[1] + P[20][18] * SK_MX[3]);
|
||||
Kfusion[21] = SK_MX[0] * (P[21][19] + P[21][16] * SH_MAG[1] + P[21][17] * SH_MAG[4] - P[21][1] * SK_MX[2] + P[21][2] *
|
||||
SK_MX[1] + P[21][18] * SK_MX[3]);
|
||||
Kfusion[22] = SK_MX[0] * (P[22][19] + P[22][16] * SH_MAG[1] + P[22][17] * SH_MAG[4] - P[22][1] * SK_MX[2] + P[22][2] *
|
||||
SK_MX[1] + P[22][18] * SK_MX[3]);
|
||||
Kfusion[23] = SK_MX[0] * (P[23][19] + P[23][16] * SH_MAG[1] + P[23][17] * SH_MAG[4] - P[23][1] * SK_MX[2] + P[23][2] *
|
||||
SK_MX[1] + P[23][18] * SK_MX[3]);
|
||||
|
||||
} else if (index == 1) {
|
||||
|
||||
H_MAG[0] = magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5];
|
||||
H_MAG[2] = - magE*SH_MAG[4] - magD*SH_MAG[7] - magN*SH_MAG[1];
|
||||
H_MAG[16] = 2*q1*q2 - SH_MAG[8];
|
||||
H_MAG[0] = magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5];
|
||||
H_MAG[2] = - magE * SH_MAG[4] - magD * SH_MAG[7] - magN * SH_MAG[1];
|
||||
H_MAG[16] = 2 * q1 * q2 - SH_MAG[8];
|
||||
H_MAG[17] = SH_MAG[0];
|
||||
H_MAG[18] = SH_MAG[3];
|
||||
H_MAG[20] = 1;
|
||||
|
||||
// intermediate variables - note SK_MY[0] is 1/(innovation variance)
|
||||
float SK_MY[4];
|
||||
SK_MY[0] = 1/(P[20][20] + R_MAG + P[0][20]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][20]*SH_MAG[0] + P[18][20]*SH_MAG[3] - (SH_MAG[8] - 2*q1*q2)*(P[20][16] + P[0][16]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][16]*SH_MAG[0] + P[18][16]*SH_MAG[3] - P[2][16]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][16]*(SH_MAG[8] - 2*q1*q2)) - P[2][20]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) + (magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5])*(P[20][0] + P[0][0]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][0]*SH_MAG[0] + P[18][0]*SH_MAG[3] - P[2][0]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][0]*(SH_MAG[8] - 2*q1*q2)) + SH_MAG[0]*(P[20][17] + P[0][17]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][17]*SH_MAG[0] + P[18][17]*SH_MAG[3] - P[2][17]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][17]*(SH_MAG[8] - 2*q1*q2)) + SH_MAG[3]*(P[20][18] + P[0][18]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][18]*SH_MAG[0] + P[18][18]*SH_MAG[3] - P[2][18]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][18]*(SH_MAG[8] - 2*q1*q2)) - P[16][20]*(SH_MAG[8] - 2*q1*q2) - (magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1])*(P[20][2] + P[0][2]*(magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5]) + P[17][2]*SH_MAG[0] + P[18][2]*SH_MAG[3] - P[2][2]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[16][2]*(SH_MAG[8] - 2*q1*q2)));
|
||||
SK_MY[1] = magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1];
|
||||
SK_MY[2] = magD*SH_MAG[2] - SH_MAG[6] + magN*SH_MAG[5];
|
||||
SK_MY[3] = SH_MAG[8] - 2*q1*q2;
|
||||
SK_MY[0] = 1 / (P[20][20] + R_MAG + P[0][20] * (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) + P[17][20] * SH_MAG[0]
|
||||
+ P[18][20] * SH_MAG[3] - (SH_MAG[8] - 2 * q1 * q2) * (P[20][16] + P[0][16] * (magD * SH_MAG[2] - SH_MAG[6] + magN *
|
||||
SH_MAG[5]) + P[17][16] * SH_MAG[0] + P[18][16] * SH_MAG[3] - P[2][16] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN *
|
||||
SH_MAG[1]) - P[16][16] * (SH_MAG[8] - 2 * q1 * q2)) - P[2][20] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN *
|
||||
SH_MAG[1]) + (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) * (P[20][0] + P[0][0] *
|
||||
(magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) + P[17][0] * SH_MAG[0] + P[18][0] * SH_MAG[3] - P[2][0] *
|
||||
(magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) - P[16][0] * (SH_MAG[8] - 2 * q1 * q2)) + SH_MAG[0] *
|
||||
(P[20][17] + P[0][17] * (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) + P[17][17] * SH_MAG[0] + P[18][17] *
|
||||
SH_MAG[3] - P[2][17] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) - P[16][17] *
|
||||
(SH_MAG[8] - 2 * q1 * q2)) + SH_MAG[3] * (P[20][18] + P[0][18] * (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) +
|
||||
P[17][18] * SH_MAG[0] + P[18][18] * SH_MAG[3] - P[2][18] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) -
|
||||
P[16][18] * (SH_MAG[8] - 2 * q1 * q2)) - P[16][20] * (SH_MAG[8] - 2 * q1 * q2) - (magE * SH_MAG[4] + magD * SH_MAG[7] +
|
||||
magN * SH_MAG[1]) * (P[20][2] + P[0][2] * (magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5]) + P[17][2] * SH_MAG[0] +
|
||||
P[18][2] * SH_MAG[3] - P[2][2] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) - P[16][2] *
|
||||
(SH_MAG[8] - 2 * q1 * q2)));
|
||||
SK_MY[1] = magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1];
|
||||
SK_MY[2] = magD * SH_MAG[2] - SH_MAG[6] + magN * SH_MAG[5];
|
||||
SK_MY[3] = SH_MAG[8] - 2 * q1 * q2;
|
||||
|
||||
Kfusion[0] = SK_MY[0]*(P[0][20] + P[0][17]*SH_MAG[0] + P[0][18]*SH_MAG[3] + P[0][0]*SK_MY[2] - P[0][2]*SK_MY[1] - P[0][16]*SK_MY[3]);
|
||||
Kfusion[1] = SK_MY[0]*(P[1][20] + P[1][17]*SH_MAG[0] + P[1][18]*SH_MAG[3] + P[1][0]*SK_MY[2] - P[1][2]*SK_MY[1] - P[1][16]*SK_MY[3]);
|
||||
Kfusion[2] = SK_MY[0]*(P[2][20] + P[2][17]*SH_MAG[0] + P[2][18]*SH_MAG[3] + P[2][0]*SK_MY[2] - P[2][2]*SK_MY[1] - P[2][16]*SK_MY[3]);
|
||||
Kfusion[3] = SK_MY[0]*(P[3][20] + P[3][17]*SH_MAG[0] + P[3][18]*SH_MAG[3] + P[3][0]*SK_MY[2] - P[3][2]*SK_MY[1] - P[3][16]*SK_MY[3]);
|
||||
Kfusion[4] = SK_MY[0]*(P[4][20] + P[4][17]*SH_MAG[0] + P[4][18]*SH_MAG[3] + P[4][0]*SK_MY[2] - P[4][2]*SK_MY[1] - P[4][16]*SK_MY[3]);
|
||||
Kfusion[5] = SK_MY[0]*(P[5][20] + P[5][17]*SH_MAG[0] + P[5][18]*SH_MAG[3] + P[5][0]*SK_MY[2] - P[5][2]*SK_MY[1] - P[5][16]*SK_MY[3]);
|
||||
Kfusion[6] = SK_MY[0]*(P[6][20] + P[6][17]*SH_MAG[0] + P[6][18]*SH_MAG[3] + P[6][0]*SK_MY[2] - P[6][2]*SK_MY[1] - P[6][16]*SK_MY[3]);
|
||||
Kfusion[7] = SK_MY[0]*(P[7][20] + P[7][17]*SH_MAG[0] + P[7][18]*SH_MAG[3] + P[7][0]*SK_MY[2] - P[7][2]*SK_MY[1] - P[7][16]*SK_MY[3]);
|
||||
Kfusion[8] = SK_MY[0]*(P[8][20] + P[8][17]*SH_MAG[0] + P[8][18]*SH_MAG[3] + P[8][0]*SK_MY[2] - P[8][2]*SK_MY[1] - P[8][16]*SK_MY[3]);
|
||||
Kfusion[9] = SK_MY[0]*(P[9][20] + P[9][17]*SH_MAG[0] + P[9][18]*SH_MAG[3] + P[9][0]*SK_MY[2] - P[9][2]*SK_MY[1] - P[9][16]*SK_MY[3]);
|
||||
Kfusion[10] = SK_MY[0]*(P[10][20] + P[10][17]*SH_MAG[0] + P[10][18]*SH_MAG[3] + P[10][0]*SK_MY[2] - P[10][2]*SK_MY[1] - P[10][16]*SK_MY[3]);
|
||||
Kfusion[11] = SK_MY[0]*(P[11][20] + P[11][17]*SH_MAG[0] + P[11][18]*SH_MAG[3] + P[11][0]*SK_MY[2] - P[11][2]*SK_MY[1] - P[11][16]*SK_MY[3]);
|
||||
Kfusion[12] = SK_MY[0]*(P[12][20] + P[12][17]*SH_MAG[0] + P[12][18]*SH_MAG[3] + P[12][0]*SK_MY[2] - P[12][2]*SK_MY[1] - P[12][16]*SK_MY[3]);
|
||||
Kfusion[13] = SK_MY[0]*(P[13][20] + P[13][17]*SH_MAG[0] + P[13][18]*SH_MAG[3] + P[13][0]*SK_MY[2] - P[13][2]*SK_MY[1] - P[13][16]*SK_MY[3]);
|
||||
Kfusion[14] = SK_MY[0]*(P[14][20] + P[14][17]*SH_MAG[0] + P[14][18]*SH_MAG[3] + P[14][0]*SK_MY[2] - P[14][2]*SK_MY[1] - P[14][16]*SK_MY[3]);
|
||||
Kfusion[15] = SK_MY[0]*(P[15][20] + P[15][17]*SH_MAG[0] + P[15][18]*SH_MAG[3] + P[15][0]*SK_MY[2] - P[15][2]*SK_MY[1] - P[15][16]*SK_MY[3]);
|
||||
Kfusion[16] = SK_MY[0]*(P[16][20] + P[16][17]*SH_MAG[0] + P[16][18]*SH_MAG[3] + P[16][0]*SK_MY[2] - P[16][2]*SK_MY[1] - P[16][16]*SK_MY[3]);
|
||||
Kfusion[17] = SK_MY[0]*(P[17][20] + P[17][17]*SH_MAG[0] + P[17][18]*SH_MAG[3] + P[17][0]*SK_MY[2] - P[17][2]*SK_MY[1] - P[17][16]*SK_MY[3]);
|
||||
Kfusion[18] = SK_MY[0]*(P[18][20] + P[18][17]*SH_MAG[0] + P[18][18]*SH_MAG[3] + P[18][0]*SK_MY[2] - P[18][2]*SK_MY[1] - P[18][16]*SK_MY[3]);
|
||||
Kfusion[19] = SK_MY[0]*(P[19][20] + P[19][17]*SH_MAG[0] + P[19][18]*SH_MAG[3] + P[19][0]*SK_MY[2] - P[19][2]*SK_MY[1] - P[19][16]*SK_MY[3]);
|
||||
Kfusion[20] = SK_MY[0]*(P[20][20] + P[20][17]*SH_MAG[0] + P[20][18]*SH_MAG[3] + P[20][0]*SK_MY[2] - P[20][2]*SK_MY[1] - P[20][16]*SK_MY[3]);
|
||||
Kfusion[21] = SK_MY[0]*(P[21][20] + P[21][17]*SH_MAG[0] + P[21][18]*SH_MAG[3] + P[21][0]*SK_MY[2] - P[21][2]*SK_MY[1] - P[21][16]*SK_MY[3]);
|
||||
Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][17]*SH_MAG[0] + P[22][18]*SH_MAG[3] + P[22][0]*SK_MY[2] - P[22][2]*SK_MY[1] - P[22][16]*SK_MY[3]);
|
||||
Kfusion[23] = SK_MY[0]*(P[23][20] + P[23][17]*SH_MAG[0] + P[23][18]*SH_MAG[3] + P[23][0]*SK_MY[2] - P[23][2]*SK_MY[1] - P[23][16]*SK_MY[3]);
|
||||
_mag_innov_var[1] = 1 / SK_MY[0];
|
||||
|
||||
Kfusion[0] = SK_MY[0] * (P[0][20] + P[0][17] * SH_MAG[0] + P[0][18] * SH_MAG[3] + P[0][0] * SK_MY[2] - P[0][2] *
|
||||
SK_MY[1] - P[0][16] * SK_MY[3]);
|
||||
Kfusion[1] = SK_MY[0] * (P[1][20] + P[1][17] * SH_MAG[0] + P[1][18] * SH_MAG[3] + P[1][0] * SK_MY[2] - P[1][2] *
|
||||
SK_MY[1] - P[1][16] * SK_MY[3]);
|
||||
Kfusion[2] = SK_MY[0] * (P[2][20] + P[2][17] * SH_MAG[0] + P[2][18] * SH_MAG[3] + P[2][0] * SK_MY[2] - P[2][2] *
|
||||
SK_MY[1] - P[2][16] * SK_MY[3]);
|
||||
Kfusion[3] = SK_MY[0] * (P[3][20] + P[3][17] * SH_MAG[0] + P[3][18] * SH_MAG[3] + P[3][0] * SK_MY[2] - P[3][2] *
|
||||
SK_MY[1] - P[3][16] * SK_MY[3]);
|
||||
Kfusion[4] = SK_MY[0] * (P[4][20] + P[4][17] * SH_MAG[0] + P[4][18] * SH_MAG[3] + P[4][0] * SK_MY[2] - P[4][2] *
|
||||
SK_MY[1] - P[4][16] * SK_MY[3]);
|
||||
Kfusion[5] = SK_MY[0] * (P[5][20] + P[5][17] * SH_MAG[0] + P[5][18] * SH_MAG[3] + P[5][0] * SK_MY[2] - P[5][2] *
|
||||
SK_MY[1] - P[5][16] * SK_MY[3]);
|
||||
Kfusion[6] = SK_MY[0] * (P[6][20] + P[6][17] * SH_MAG[0] + P[6][18] * SH_MAG[3] + P[6][0] * SK_MY[2] - P[6][2] *
|
||||
SK_MY[1] - P[6][16] * SK_MY[3]);
|
||||
Kfusion[7] = SK_MY[0] * (P[7][20] + P[7][17] * SH_MAG[0] + P[7][18] * SH_MAG[3] + P[7][0] * SK_MY[2] - P[7][2] *
|
||||
SK_MY[1] - P[7][16] * SK_MY[3]);
|
||||
Kfusion[8] = SK_MY[0] * (P[8][20] + P[8][17] * SH_MAG[0] + P[8][18] * SH_MAG[3] + P[8][0] * SK_MY[2] - P[8][2] *
|
||||
SK_MY[1] - P[8][16] * SK_MY[3]);
|
||||
Kfusion[9] = SK_MY[0] * (P[9][20] + P[9][17] * SH_MAG[0] + P[9][18] * SH_MAG[3] + P[9][0] * SK_MY[2] - P[9][2] *
|
||||
SK_MY[1] - P[9][16] * SK_MY[3]);
|
||||
Kfusion[10] = SK_MY[0] * (P[10][20] + P[10][17] * SH_MAG[0] + P[10][18] * SH_MAG[3] + P[10][0] * SK_MY[2] - P[10][2] *
|
||||
SK_MY[1] - P[10][16] * SK_MY[3]);
|
||||
Kfusion[11] = SK_MY[0] * (P[11][20] + P[11][17] * SH_MAG[0] + P[11][18] * SH_MAG[3] + P[11][0] * SK_MY[2] - P[11][2] *
|
||||
SK_MY[1] - P[11][16] * SK_MY[3]);
|
||||
Kfusion[12] = SK_MY[0] * (P[12][20] + P[12][17] * SH_MAG[0] + P[12][18] * SH_MAG[3] + P[12][0] * SK_MY[2] - P[12][2] *
|
||||
SK_MY[1] - P[12][16] * SK_MY[3]);
|
||||
Kfusion[13] = SK_MY[0] * (P[13][20] + P[13][17] * SH_MAG[0] + P[13][18] * SH_MAG[3] + P[13][0] * SK_MY[2] - P[13][2] *
|
||||
SK_MY[1] - P[13][16] * SK_MY[3]);
|
||||
Kfusion[14] = SK_MY[0] * (P[14][20] + P[14][17] * SH_MAG[0] + P[14][18] * SH_MAG[3] + P[14][0] * SK_MY[2] - P[14][2] *
|
||||
SK_MY[1] - P[14][16] * SK_MY[3]);
|
||||
Kfusion[15] = SK_MY[0] * (P[15][20] + P[15][17] * SH_MAG[0] + P[15][18] * SH_MAG[3] + P[15][0] * SK_MY[2] - P[15][2] *
|
||||
SK_MY[1] - P[15][16] * SK_MY[3]);
|
||||
Kfusion[16] = SK_MY[0] * (P[16][20] + P[16][17] * SH_MAG[0] + P[16][18] * SH_MAG[3] + P[16][0] * SK_MY[2] - P[16][2] *
|
||||
SK_MY[1] - P[16][16] * SK_MY[3]);
|
||||
Kfusion[17] = SK_MY[0] * (P[17][20] + P[17][17] * SH_MAG[0] + P[17][18] * SH_MAG[3] + P[17][0] * SK_MY[2] - P[17][2] *
|
||||
SK_MY[1] - P[17][16] * SK_MY[3]);
|
||||
Kfusion[18] = SK_MY[0] * (P[18][20] + P[18][17] * SH_MAG[0] + P[18][18] * SH_MAG[3] + P[18][0] * SK_MY[2] - P[18][2] *
|
||||
SK_MY[1] - P[18][16] * SK_MY[3]);
|
||||
Kfusion[19] = SK_MY[0] * (P[19][20] + P[19][17] * SH_MAG[0] + P[19][18] * SH_MAG[3] + P[19][0] * SK_MY[2] - P[19][2] *
|
||||
SK_MY[1] - P[19][16] * SK_MY[3]);
|
||||
Kfusion[20] = SK_MY[0] * (P[20][20] + P[20][17] * SH_MAG[0] + P[20][18] * SH_MAG[3] + P[20][0] * SK_MY[2] - P[20][2] *
|
||||
SK_MY[1] - P[20][16] * SK_MY[3]);
|
||||
Kfusion[21] = SK_MY[0] * (P[21][20] + P[21][17] * SH_MAG[0] + P[21][18] * SH_MAG[3] + P[21][0] * SK_MY[2] - P[21][2] *
|
||||
SK_MY[1] - P[21][16] * SK_MY[3]);
|
||||
Kfusion[22] = SK_MY[0] * (P[22][20] + P[22][17] * SH_MAG[0] + P[22][18] * SH_MAG[3] + P[22][0] * SK_MY[2] - P[22][2] *
|
||||
SK_MY[1] - P[22][16] * SK_MY[3]);
|
||||
Kfusion[23] = SK_MY[0] * (P[23][20] + P[23][17] * SH_MAG[0] + P[23][18] * SH_MAG[3] + P[23][0] * SK_MY[2] - P[23][2] *
|
||||
SK_MY[1] - P[23][16] * SK_MY[3]);
|
||||
|
||||
|
||||
} else if (index == 2)
|
||||
|
||||
{
|
||||
H_MAG[0] = magN*(SH_MAG[8] - 2*q1*q2) - magD*SH_MAG[3] - magE*SH_MAG[0];
|
||||
H_MAG[1] = magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1];
|
||||
H_MAG[0] = magN * (SH_MAG[8] - 2 * q1 * q2) - magD * SH_MAG[3] - magE * SH_MAG[0];
|
||||
H_MAG[1] = magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1];
|
||||
H_MAG[16] = SH_MAG[5];
|
||||
H_MAG[17] = 2*q2*q3 - 2*q0*q1;
|
||||
H_MAG[17] = 2 * q2 * q3 - 2 * q0 * q1;
|
||||
H_MAG[18] = SH_MAG[2];
|
||||
H_MAG[21] = 1;
|
||||
|
||||
// intermediate variables
|
||||
float SK_MZ[4];
|
||||
SK_MZ[0] = 1/(P[21][21] + R_MAG + P[16][21]*SH_MAG[5] + P[18][21]*SH_MAG[2] - (2*q0*q1 - 2*q2*q3)*(P[21][17] + P[16][17]*SH_MAG[5] + P[18][17]*SH_MAG[2] - P[0][17]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][17]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][17]*(2*q0*q1 - 2*q2*q3)) - P[0][21]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][21]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) + SH_MAG[5]*(P[21][16] + P[16][16]*SH_MAG[5] + P[18][16]*SH_MAG[2] - P[0][16]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][16]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][16]*(2*q0*q1 - 2*q2*q3)) + SH_MAG[2]*(P[21][18] + P[16][18]*SH_MAG[5] + P[18][18]*SH_MAG[2] - P[0][18]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][18]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][18]*(2*q0*q1 - 2*q2*q3)) - (magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2))*(P[21][0] + P[16][0]*SH_MAG[5] + P[18][0]*SH_MAG[2] - P[0][0]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][0]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][0]*(2*q0*q1 - 2*q2*q3)) - P[17][21]*(2*q0*q1 - 2*q2*q3) + (magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1])*(P[21][1] + P[16][1]*SH_MAG[5] + P[18][1]*SH_MAG[2] - P[0][1]*(magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2)) + P[1][1]*(magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1]) - P[17][1]*(2*q0*q1 - 2*q2*q3)));
|
||||
SK_MZ[1] = magE*SH_MAG[0] + magD*SH_MAG[3] - magN*(SH_MAG[8] - 2*q1*q2);
|
||||
SK_MZ[2] = magE*SH_MAG[4] + magD*SH_MAG[7] + magN*SH_MAG[1];
|
||||
SK_MZ[3] = 2*q0*q1 - 2*q2*q3;
|
||||
SK_MZ[0] = 1 / (P[21][21] + R_MAG + P[16][21] * SH_MAG[5] + P[18][21] * SH_MAG[2] - (2 * q0 * q1 - 2 * q2 * q3) *
|
||||
(P[21][17] + P[16][17] * SH_MAG[5] + P[18][17] * SH_MAG[2] - P[0][17] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN *
|
||||
(SH_MAG[8] - 2 * q1 * q2)) + P[1][17] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) - P[17][17] *
|
||||
(2 * q0 * q1 - 2 * q2 * q3)) - P[0][21] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN *
|
||||
(SH_MAG[8] - 2 * q1 * q2)) + P[1][21] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) + SH_MAG[5] *
|
||||
(P[21][16] + P[16][16] * SH_MAG[5] + P[18][16] * SH_MAG[2] - P[0][16] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN *
|
||||
(SH_MAG[8] - 2 * q1 * q2)) + P[1][16] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) - P[17][16] *
|
||||
(2 * q0 * q1 - 2 * q2 * q3)) + SH_MAG[2] * (P[21][18] + P[16][18] * SH_MAG[5] + P[18][18] * SH_MAG[2] - P[0][18] *
|
||||
(magE * SH_MAG[0] + magD * SH_MAG[3] - magN * (SH_MAG[8] - 2 * q1 * q2)) + P[1][18] *
|
||||
(magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) - P[17][18] * (2 * q0 * q1 - 2 * q2 * q3)) -
|
||||
(magE * SH_MAG[0] + magD * SH_MAG[3] - magN * (SH_MAG[8] - 2 * q1 * q2)) * (P[21][0] + P[16][0] * SH_MAG[5] + P[18][0] *
|
||||
SH_MAG[2] - P[0][0] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN * (SH_MAG[8] - 2 * q1 * q2)) + P[1][0] *
|
||||
(magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) - P[17][0] * (2 * q0 * q1 - 2 * q2 * q3)) - P[17][21] *
|
||||
(2 * q0 * q1 - 2 * q2 * q3) + (magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) *
|
||||
(P[21][1] + P[16][1] * SH_MAG[5] + P[18][1] * SH_MAG[2] - P[0][1] * (magE * SH_MAG[0] + magD * SH_MAG[3] - magN *
|
||||
(SH_MAG[8] - 2 * q1 * q2)) + P[1][1] * (magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1]) - P[17][1] *
|
||||
(2 * q0 * q1 - 2 * q2 * q3)));
|
||||
SK_MZ[1] = magE * SH_MAG[0] + magD * SH_MAG[3] - magN * (SH_MAG[8] - 2 * q1 * q2);
|
||||
SK_MZ[2] = magE * SH_MAG[4] + magD * SH_MAG[7] + magN * SH_MAG[1];
|
||||
SK_MZ[3] = 2 * q0 * q1 - 2 * q2 * q3;
|
||||
|
||||
Kfusion[0] = SK_MZ[0]*(P[0][21] + P[0][18]*SH_MAG[2] + P[0][16]*SH_MAG[5] - P[0][0]*SK_MZ[1] + P[0][1]*SK_MZ[2] - P[0][17]*SK_MZ[3]);
|
||||
Kfusion[1] = SK_MZ[0]*(P[1][21] + P[1][18]*SH_MAG[2] + P[1][16]*SH_MAG[5] - P[1][0]*SK_MZ[1] + P[1][1]*SK_MZ[2] - P[1][17]*SK_MZ[3]);
|
||||
Kfusion[2] = SK_MZ[0]*(P[2][21] + P[2][18]*SH_MAG[2] + P[2][16]*SH_MAG[5] - P[2][0]*SK_MZ[1] + P[2][1]*SK_MZ[2] - P[2][17]*SK_MZ[3]);
|
||||
Kfusion[3] = SK_MZ[0]*(P[3][21] + P[3][18]*SH_MAG[2] + P[3][16]*SH_MAG[5] - P[3][0]*SK_MZ[1] + P[3][1]*SK_MZ[2] - P[3][17]*SK_MZ[3]);
|
||||
Kfusion[4] = SK_MZ[0]*(P[4][21] + P[4][18]*SH_MAG[2] + P[4][16]*SH_MAG[5] - P[4][0]*SK_MZ[1] + P[4][1]*SK_MZ[2] - P[4][17]*SK_MZ[3]);
|
||||
Kfusion[5] = SK_MZ[0]*(P[5][21] + P[5][18]*SH_MAG[2] + P[5][16]*SH_MAG[5] - P[5][0]*SK_MZ[1] + P[5][1]*SK_MZ[2] - P[5][17]*SK_MZ[3]);
|
||||
Kfusion[6] = SK_MZ[0]*(P[6][21] + P[6][18]*SH_MAG[2] + P[6][16]*SH_MAG[5] - P[6][0]*SK_MZ[1] + P[6][1]*SK_MZ[2] - P[6][17]*SK_MZ[3]);
|
||||
Kfusion[7] = SK_MZ[0]*(P[7][21] + P[7][18]*SH_MAG[2] + P[7][16]*SH_MAG[5] - P[7][0]*SK_MZ[1] + P[7][1]*SK_MZ[2] - P[7][17]*SK_MZ[3]);
|
||||
Kfusion[8] = SK_MZ[0]*(P[8][21] + P[8][18]*SH_MAG[2] + P[8][16]*SH_MAG[5] - P[8][0]*SK_MZ[1] + P[8][1]*SK_MZ[2] - P[8][17]*SK_MZ[3]);
|
||||
Kfusion[9] = SK_MZ[0]*(P[9][21] + P[9][18]*SH_MAG[2] + P[9][16]*SH_MAG[5] - P[9][0]*SK_MZ[1] + P[9][1]*SK_MZ[2] - P[9][17]*SK_MZ[3]);
|
||||
Kfusion[10] = SK_MZ[0]*(P[10][21] + P[10][18]*SH_MAG[2] + P[10][16]*SH_MAG[5] - P[10][0]*SK_MZ[1] + P[10][1]*SK_MZ[2] - P[10][17]*SK_MZ[3]);
|
||||
Kfusion[11] = SK_MZ[0]*(P[11][21] + P[11][18]*SH_MAG[2] + P[11][16]*SH_MAG[5] - P[11][0]*SK_MZ[1] + P[11][1]*SK_MZ[2] - P[11][17]*SK_MZ[3]);
|
||||
Kfusion[12] = SK_MZ[0]*(P[12][21] + P[12][18]*SH_MAG[2] + P[12][16]*SH_MAG[5] - P[12][0]*SK_MZ[1] + P[12][1]*SK_MZ[2] - P[12][17]*SK_MZ[3]);
|
||||
Kfusion[13] = SK_MZ[0]*(P[13][21] + P[13][18]*SH_MAG[2] + P[13][16]*SH_MAG[5] - P[13][0]*SK_MZ[1] + P[13][1]*SK_MZ[2] - P[13][17]*SK_MZ[3]);
|
||||
Kfusion[14] = SK_MZ[0]*(P[14][21] + P[14][18]*SH_MAG[2] + P[14][16]*SH_MAG[5] - P[14][0]*SK_MZ[1] + P[14][1]*SK_MZ[2] - P[14][17]*SK_MZ[3]);
|
||||
Kfusion[15] = SK_MZ[0]*(P[15][21] + P[15][18]*SH_MAG[2] + P[15][16]*SH_MAG[5] - P[15][0]*SK_MZ[1] + P[15][1]*SK_MZ[2] - P[15][17]*SK_MZ[3]);
|
||||
Kfusion[16] = SK_MZ[0]*(P[16][21] + P[16][18]*SH_MAG[2] + P[16][16]*SH_MAG[5] - P[16][0]*SK_MZ[1] + P[16][1]*SK_MZ[2] - P[16][17]*SK_MZ[3]);
|
||||
Kfusion[17] = SK_MZ[0]*(P[17][21] + P[17][18]*SH_MAG[2] + P[17][16]*SH_MAG[5] - P[17][0]*SK_MZ[1] + P[17][1]*SK_MZ[2] - P[17][17]*SK_MZ[3]);
|
||||
Kfusion[18] = SK_MZ[0]*(P[18][21] + P[18][18]*SH_MAG[2] + P[18][16]*SH_MAG[5] - P[18][0]*SK_MZ[1] + P[18][1]*SK_MZ[2] - P[18][17]*SK_MZ[3]);
|
||||
Kfusion[19] = SK_MZ[0]*(P[19][21] + P[19][18]*SH_MAG[2] + P[19][16]*SH_MAG[5] - P[19][0]*SK_MZ[1] + P[19][1]*SK_MZ[2] - P[19][17]*SK_MZ[3]);
|
||||
Kfusion[20] = SK_MZ[0]*(P[20][21] + P[20][18]*SH_MAG[2] + P[20][16]*SH_MAG[5] - P[20][0]*SK_MZ[1] + P[20][1]*SK_MZ[2] - P[20][17]*SK_MZ[3]);
|
||||
Kfusion[21] = SK_MZ[0]*(P[21][21] + P[21][18]*SH_MAG[2] + P[21][16]*SH_MAG[5] - P[21][0]*SK_MZ[1] + P[21][1]*SK_MZ[2] - P[21][17]*SK_MZ[3]);
|
||||
Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][18]*SH_MAG[2] + P[22][16]*SH_MAG[5] - P[22][0]*SK_MZ[1] + P[22][1]*SK_MZ[2] - P[22][17]*SK_MZ[3]);
|
||||
Kfusion[23] = SK_MZ[0]*(P[23][21] + P[23][18]*SH_MAG[2] + P[23][16]*SH_MAG[5] - P[23][0]*SK_MZ[1] + P[23][1]*SK_MZ[2] - P[23][17]*SK_MZ[3]);
|
||||
_mag_innov_var[2] = 1 / SK_MZ[0];
|
||||
|
||||
Kfusion[0] = SK_MZ[0] * (P[0][21] + P[0][18] * SH_MAG[2] + P[0][16] * SH_MAG[5] - P[0][0] * SK_MZ[1] + P[0][1] *
|
||||
SK_MZ[2] - P[0][17] * SK_MZ[3]);
|
||||
Kfusion[1] = SK_MZ[0] * (P[1][21] + P[1][18] * SH_MAG[2] + P[1][16] * SH_MAG[5] - P[1][0] * SK_MZ[1] + P[1][1] *
|
||||
SK_MZ[2] - P[1][17] * SK_MZ[3]);
|
||||
Kfusion[2] = SK_MZ[0] * (P[2][21] + P[2][18] * SH_MAG[2] + P[2][16] * SH_MAG[5] - P[2][0] * SK_MZ[1] + P[2][1] *
|
||||
SK_MZ[2] - P[2][17] * SK_MZ[3]);
|
||||
Kfusion[3] = SK_MZ[0] * (P[3][21] + P[3][18] * SH_MAG[2] + P[3][16] * SH_MAG[5] - P[3][0] * SK_MZ[1] + P[3][1] *
|
||||
SK_MZ[2] - P[3][17] * SK_MZ[3]);
|
||||
Kfusion[4] = SK_MZ[0] * (P[4][21] + P[4][18] * SH_MAG[2] + P[4][16] * SH_MAG[5] - P[4][0] * SK_MZ[1] + P[4][1] *
|
||||
SK_MZ[2] - P[4][17] * SK_MZ[3]);
|
||||
Kfusion[5] = SK_MZ[0] * (P[5][21] + P[5][18] * SH_MAG[2] + P[5][16] * SH_MAG[5] - P[5][0] * SK_MZ[1] + P[5][1] *
|
||||
SK_MZ[2] - P[5][17] * SK_MZ[3]);
|
||||
Kfusion[6] = SK_MZ[0] * (P[6][21] + P[6][18] * SH_MAG[2] + P[6][16] * SH_MAG[5] - P[6][0] * SK_MZ[1] + P[6][1] *
|
||||
SK_MZ[2] - P[6][17] * SK_MZ[3]);
|
||||
Kfusion[7] = SK_MZ[0] * (P[7][21] + P[7][18] * SH_MAG[2] + P[7][16] * SH_MAG[5] - P[7][0] * SK_MZ[1] + P[7][1] *
|
||||
SK_MZ[2] - P[7][17] * SK_MZ[3]);
|
||||
Kfusion[8] = SK_MZ[0] * (P[8][21] + P[8][18] * SH_MAG[2] + P[8][16] * SH_MAG[5] - P[8][0] * SK_MZ[1] + P[8][1] *
|
||||
SK_MZ[2] - P[8][17] * SK_MZ[3]);
|
||||
Kfusion[9] = SK_MZ[0] * (P[9][21] + P[9][18] * SH_MAG[2] + P[9][16] * SH_MAG[5] - P[9][0] * SK_MZ[1] + P[9][1] *
|
||||
SK_MZ[2] - P[9][17] * SK_MZ[3]);
|
||||
Kfusion[10] = SK_MZ[0] * (P[10][21] + P[10][18] * SH_MAG[2] + P[10][16] * SH_MAG[5] - P[10][0] * SK_MZ[1] + P[10][1] *
|
||||
SK_MZ[2] - P[10][17] * SK_MZ[3]);
|
||||
Kfusion[11] = SK_MZ[0] * (P[11][21] + P[11][18] * SH_MAG[2] + P[11][16] * SH_MAG[5] - P[11][0] * SK_MZ[1] + P[11][1] *
|
||||
SK_MZ[2] - P[11][17] * SK_MZ[3]);
|
||||
Kfusion[12] = SK_MZ[0] * (P[12][21] + P[12][18] * SH_MAG[2] + P[12][16] * SH_MAG[5] - P[12][0] * SK_MZ[1] + P[12][1] *
|
||||
SK_MZ[2] - P[12][17] * SK_MZ[3]);
|
||||
Kfusion[13] = SK_MZ[0] * (P[13][21] + P[13][18] * SH_MAG[2] + P[13][16] * SH_MAG[5] - P[13][0] * SK_MZ[1] + P[13][1] *
|
||||
SK_MZ[2] - P[13][17] * SK_MZ[3]);
|
||||
Kfusion[14] = SK_MZ[0] * (P[14][21] + P[14][18] * SH_MAG[2] + P[14][16] * SH_MAG[5] - P[14][0] * SK_MZ[1] + P[14][1] *
|
||||
SK_MZ[2] - P[14][17] * SK_MZ[3]);
|
||||
Kfusion[15] = SK_MZ[0] * (P[15][21] + P[15][18] * SH_MAG[2] + P[15][16] * SH_MAG[5] - P[15][0] * SK_MZ[1] + P[15][1] *
|
||||
SK_MZ[2] - P[15][17] * SK_MZ[3]);
|
||||
Kfusion[16] = SK_MZ[0] * (P[16][21] + P[16][18] * SH_MAG[2] + P[16][16] * SH_MAG[5] - P[16][0] * SK_MZ[1] + P[16][1] *
|
||||
SK_MZ[2] - P[16][17] * SK_MZ[3]);
|
||||
Kfusion[17] = SK_MZ[0] * (P[17][21] + P[17][18] * SH_MAG[2] + P[17][16] * SH_MAG[5] - P[17][0] * SK_MZ[1] + P[17][1] *
|
||||
SK_MZ[2] - P[17][17] * SK_MZ[3]);
|
||||
Kfusion[18] = SK_MZ[0] * (P[18][21] + P[18][18] * SH_MAG[2] + P[18][16] * SH_MAG[5] - P[18][0] * SK_MZ[1] + P[18][1] *
|
||||
SK_MZ[2] - P[18][17] * SK_MZ[3]);
|
||||
Kfusion[19] = SK_MZ[0] * (P[19][21] + P[19][18] * SH_MAG[2] + P[19][16] * SH_MAG[5] - P[19][0] * SK_MZ[1] + P[19][1] *
|
||||
SK_MZ[2] - P[19][17] * SK_MZ[3]);
|
||||
Kfusion[20] = SK_MZ[0] * (P[20][21] + P[20][18] * SH_MAG[2] + P[20][16] * SH_MAG[5] - P[20][0] * SK_MZ[1] + P[20][1] *
|
||||
SK_MZ[2] - P[20][17] * SK_MZ[3]);
|
||||
Kfusion[21] = SK_MZ[0] * (P[21][21] + P[21][18] * SH_MAG[2] + P[21][16] * SH_MAG[5] - P[21][0] * SK_MZ[1] + P[21][1] *
|
||||
SK_MZ[2] - P[21][17] * SK_MZ[3]);
|
||||
Kfusion[22] = SK_MZ[0] * (P[22][21] + P[22][18] * SH_MAG[2] + P[22][16] * SH_MAG[5] - P[22][0] * SK_MZ[1] + P[22][1] *
|
||||
SK_MZ[2] - P[22][17] * SK_MZ[3]);
|
||||
Kfusion[23] = SK_MZ[0] * (P[23][21] + P[23][18] * SH_MAG[2] + P[23][16] * SH_MAG[5] - P[23][0] * SK_MZ[1] + P[23][1] *
|
||||
SK_MZ[2] - P[23][17] * SK_MZ[3]);
|
||||
|
||||
} else {
|
||||
}
|
||||
@ -218,7 +339,7 @@ void Ekf::fuseMag(uint8_t index)
|
||||
// by definition our error state is zero at the time of fusion
|
||||
_state.ang_error.setZero();
|
||||
|
||||
fuse(Kfusion, mag_innov[index]);
|
||||
fuse(Kfusion, _mag_innov[index]);
|
||||
|
||||
Quaternion q_correction;
|
||||
q_correction.from_axis_angle(_state.ang_error);
|
||||
@ -243,6 +364,7 @@ void Ekf::fuseMag(uint8_t index)
|
||||
}
|
||||
|
||||
float KHP[_k_num_states][_k_num_states] = {};
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
float tmp = KH[row][0] * P[0][column];
|
||||
@ -280,43 +402,43 @@ void Ekf::fuseHeading()
|
||||
float magY = _mag_sample_delayed.mag(1);
|
||||
float magZ = _mag_sample_delayed.mag(2);
|
||||
|
||||
float R_mag = _params.mag_heading_noise;
|
||||
float R_mag = _params.mag_heading_noise;
|
||||
|
||||
float t2 = q0*q0;
|
||||
float t3 = q1*q1;
|
||||
float t4 = q2*q2;
|
||||
float t5 = q3*q3;
|
||||
float t6 = q0*q2*2.0f;
|
||||
float t7 = q1*q3*2.0f;
|
||||
float t8 = t6+t7;
|
||||
float t9 = q0*q3*2.0f;
|
||||
float t13 = q1*q2*2.0f;
|
||||
float t10 = t9-t13;
|
||||
float t11 = t2+t3-t4-t5;
|
||||
float t12 = magX*t11;
|
||||
float t14 = magZ*t8;
|
||||
float t19 = magY*t10;
|
||||
float t15 = t12+t14-t19;
|
||||
float t16 = t2-t3+t4-t5;
|
||||
float t17 = q0*q1*2.0f;
|
||||
float t24 = q2*q3*2.0f;
|
||||
float t18 = t17-t24;
|
||||
float t20 = 1.0f/t15;
|
||||
float t21 = magY*t16;
|
||||
float t22 = t9+t13;
|
||||
float t23 = magX*t22;
|
||||
float t28 = magZ*t18;
|
||||
float t25 = t21+t23-t28;
|
||||
float t29 = t20*t25;
|
||||
float t2 = q0 * q0;
|
||||
float t3 = q1 * q1;
|
||||
float t4 = q2 * q2;
|
||||
float t5 = q3 * q3;
|
||||
float t6 = q0 * q2 * 2.0f;
|
||||
float t7 = q1 * q3 * 2.0f;
|
||||
float t8 = t6 + t7;
|
||||
float t9 = q0 * q3 * 2.0f;
|
||||
float t13 = q1 * q2 * 2.0f;
|
||||
float t10 = t9 - t13;
|
||||
float t11 = t2 + t3 - t4 - t5;
|
||||
float t12 = magX * t11;
|
||||
float t14 = magZ * t8;
|
||||
float t19 = magY * t10;
|
||||
float t15 = t12 + t14 - t19;
|
||||
float t16 = t2 - t3 + t4 - t5;
|
||||
float t17 = q0 * q1 * 2.0f;
|
||||
float t24 = q2 * q3 * 2.0f;
|
||||
float t18 = t17 - t24;
|
||||
float t20 = 1.0f / t15;
|
||||
float t21 = magY * t16;
|
||||
float t22 = t9 + t13;
|
||||
float t23 = magX * t22;
|
||||
float t28 = magZ * t18;
|
||||
float t25 = t21 + t23 - t28;
|
||||
float t29 = t20 * t25;
|
||||
float t26 = tan(t29);
|
||||
float t27 = 1.0f/(t15*t15);
|
||||
float t30 = t26*t26;
|
||||
float t31 = t30+1.0f;
|
||||
float t27 = 1.0f / (t15 * t15);
|
||||
float t30 = t26 * t26;
|
||||
float t31 = t30 + 1.0f;
|
||||
|
||||
float H_MAG[3] = {};
|
||||
H_MAG[0] = -t31*(t20*(magZ*t16+magY*t18)+t25*t27*(magY*t8+magZ*t10));
|
||||
H_MAG[1] = t31*(t20*(magX*t18+magZ*t22)+t25*t27*(magX*t8-magZ*t11));
|
||||
H_MAG[2] = t31*(t20*(magX*t16-magY*t22)+t25*t27*(magX*t10+magY*t11));
|
||||
H_MAG[0] = -t31 * (t20 * (magZ * t16 + magY * t18) + t25 * t27 * (magY * t8 + magZ * t10));
|
||||
H_MAG[1] = t31 * (t20 * (magX * t18 + magZ * t22) + t25 * t27 * (magX * t8 - magZ * t11));
|
||||
H_MAG[2] = t31 * (t20 * (magX * t16 - magY * t22) + t25 * t27 * (magX * t10 + magY * t11));
|
||||
|
||||
// calculate innovation
|
||||
matrix::Dcm<float> R_to_earth(_state.quat_nominal);
|
||||
@ -325,15 +447,19 @@ void Ekf::fuseHeading()
|
||||
float innovation = atan2f(mag_earth_pred(1), mag_earth_pred(0)) - math::radians(_params.mag_declination_deg);
|
||||
|
||||
innovation = math::constrain(innovation, -0.5f, 0.5f);
|
||||
_heading_innov = innovation;
|
||||
|
||||
float innovation_var = R_mag;
|
||||
_heading_innov_var = innovation_var;
|
||||
|
||||
// calculate innovation variance
|
||||
float PH[3] = {};
|
||||
|
||||
for (unsigned row = 0; row < 3; row++) {
|
||||
for (unsigned column = 0; column < 3; column++) {
|
||||
PH[row] += P[row][column]*H_MAG[column];
|
||||
PH[row] += P[row][column] * H_MAG[column];
|
||||
}
|
||||
|
||||
innovation_var += H_MAG[row] * PH[row];
|
||||
}
|
||||
|
||||
@ -342,6 +468,7 @@ void Ekf::fuseHeading()
|
||||
_fault_status.bad_mag_x = false;
|
||||
_fault_status.bad_mag_y = false;
|
||||
_fault_status.bad_mag_z = false;
|
||||
|
||||
} else {
|
||||
// our innovation variance has decreased, our calculation is thus badly conditioned
|
||||
_fault_status.bad_mag_x = true;
|
||||
@ -357,15 +484,18 @@ void Ekf::fuseHeading()
|
||||
|
||||
// calculate kalman gain
|
||||
float Kfusion[_k_num_states] = {};
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
for (unsigned column = 0; column < 3; column++) {
|
||||
Kfusion[row] += P[row][column] * H_MAG[column];
|
||||
}
|
||||
|
||||
Kfusion[row] *= innovation_var_inv;
|
||||
}
|
||||
|
||||
// innovation test ratio
|
||||
float yaw_test_ratio = sq(innovation) / (sq(math::max(0.01f * (float)_params.heading_innov_gate, 1.0f)) * innovation_var);
|
||||
float yaw_test_ratio = sq(innovation) / (sq(math::max(0.01f * (float)_params.heading_innov_gate,
|
||||
1.0f)) * innovation_var);
|
||||
|
||||
// set the magnetometer unhealthy if the test fails
|
||||
if (yaw_test_ratio > 1.0f) {
|
||||
@ -377,6 +507,7 @@ void Ekf::fuseHeading()
|
||||
if (_in_air) {
|
||||
return;
|
||||
}
|
||||
|
||||
} else {
|
||||
_mag_healthy = true;
|
||||
}
|
||||
@ -385,7 +516,7 @@ void Ekf::fuseHeading()
|
||||
fuse(Kfusion, innovation);
|
||||
|
||||
// correct the nominal quaternion
|
||||
Quaternion dq;
|
||||
Quaternion dq;
|
||||
dq.from_axis_angle(_state.ang_error);
|
||||
_state.quat_nominal = dq * _state.quat_nominal;
|
||||
_state.quat_nominal.normalize();
|
||||
|
||||
@ -44,29 +44,28 @@
|
||||
void Ekf::fuseVelPosHeight()
|
||||
{
|
||||
bool fuse_map[6] = {};
|
||||
float innovations[6] = {};
|
||||
float R[6] = {};
|
||||
float Kfusion[24] = {};
|
||||
|
||||
// calculate innovations
|
||||
if (_fuse_hor_vel) {
|
||||
fuse_map[0] = fuse_map[1] = true;
|
||||
innovations[0] = _state.vel(0) - _gps_sample_delayed.vel(0);
|
||||
innovations[1] = _state.vel(1) - _gps_sample_delayed.vel(1);
|
||||
_vel_pos_innov[0] = _state.vel(0) - _gps_sample_delayed.vel(0);
|
||||
_vel_pos_innov[1] = _state.vel(1) - _gps_sample_delayed.vel(1);
|
||||
R[0] = _params.gps_vel_noise;
|
||||
R[1] = _params.gps_vel_noise;
|
||||
}
|
||||
|
||||
if (_fuse_vert_vel) {
|
||||
fuse_map[2] = true;
|
||||
innovations[2] = _state.vel(2) - _gps_sample_delayed.vel(2);
|
||||
_vel_pos_innov[2] = _state.vel(2) - _gps_sample_delayed.vel(2);
|
||||
R[2] = _params.gps_vel_noise;
|
||||
}
|
||||
|
||||
if (_fuse_pos) {
|
||||
fuse_map[3] = fuse_map[4] = true;
|
||||
innovations[3] = _state.pos(0) - _gps_sample_delayed.pos(0);
|
||||
innovations[4] = _state.pos(1) - _gps_sample_delayed.pos(1);
|
||||
_vel_pos_innov[3] = _state.pos(0) - _gps_sample_delayed.pos(0);
|
||||
_vel_pos_innov[4] = _state.pos(1) - _gps_sample_delayed.pos(1);
|
||||
R[3] = _params.gps_pos_noise;
|
||||
R[4] = _params.gps_pos_noise;
|
||||
|
||||
@ -74,7 +73,7 @@ void Ekf::fuseVelPosHeight()
|
||||
|
||||
if (_fuse_height) {
|
||||
fuse_map[5] = true;
|
||||
innovations[5] = _state.pos(2) - (-_baro_sample_delayed.hgt); // baro measurement has inversed z axis
|
||||
_vel_pos_innov[5] = _state.pos(2) - (-_baro_sample_delayed.hgt); // baro measurement has inversed z axis
|
||||
R[5] = _params.baro_noise;
|
||||
}
|
||||
|
||||
@ -89,6 +88,7 @@ void Ekf::fuseVelPosHeight()
|
||||
|
||||
// compute the innovation variance SK = HPH + R
|
||||
float S = P[state_index][state_index] + R[obs_index];
|
||||
_vel_pos_innov_var[obs_index] = S;
|
||||
S = 1.0f / S;
|
||||
|
||||
// calculate kalman gain K = PHS
|
||||
@ -100,7 +100,7 @@ void Ekf::fuseVelPosHeight()
|
||||
_state.ang_error.setZero();
|
||||
|
||||
// fuse the observation
|
||||
fuse(Kfusion, innovations[obs_index]);
|
||||
fuse(Kfusion, _vel_pos_innov[obs_index]);
|
||||
|
||||
// correct the nominal quaternion
|
||||
Quaternion dq;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user