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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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ekf2: use Joseph stabilized covariance update
This commit is contained in:
bresch
@@ -52,20 +52,20 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -79,18 +79,18 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -129,51 +129,51 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -181,171 +181,171 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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32090000,-0.29,0.015,-0.0058,0.96,0.0019,0.024,0.8,0.05,-0.012,-0.097,-0.0012,-0.0058,3e-05,0.029,-0.027,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00036,0.00035,0.021,0.026,0.026,0.0052,0.28,0.28,0.03,3e-07,3e-07,4.7e-06,0.029,0.029,9.9e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32190000,-0.29,0.015,-0.006,0.96,-0.00056,0.03,0.8,0.047,-0.003,-0.029,-0.0012,-0.0058,3e-05,0.029,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00036,0.00035,0.021,0.025,0.025,0.0051,0.28,0.28,0.03,3e-07,3e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32290000,-0.29,0.016,-0.0059,0.96,-0.0024,0.033,0.79,0.047,0.00022,0.041,-0.0012,-0.0058,3e-05,0.029,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00036,0.00035,0.021,0.026,0.026,0.0051,0.29,0.29,0.03,3e-07,3e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32390000,-0.29,0.016,-0.006,0.96,-0.0051,0.034,0.79,0.045,0.0028,0.12,-0.0012,-0.0058,3e-05,0.03,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00036,0.00035,0.021,0.025,0.025,0.0051,0.29,0.29,0.03,3e-07,2.9e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32490000,-0.29,0.014,-0.0091,0.96,-0.045,0.092,-0.078,0.041,0.011,0.12,-0.0012,-0.0058,3e-05,0.03,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00036,0.00036,0.021,0.027,0.027,0.0051,0.3,0.3,0.03,3e-07,2.9e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32590000,-0.29,0.014,-0.009,0.96,-0.039,0.091,-0.08,0.048,0.003,0.1,-0.0012,-0.0058,3e-05,0.03,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.026,0.026,0.0051,0.3,0.3,0.03,2.9e-07,2.9e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32690000,-0.29,0.014,-0.009,0.96,-0.036,0.098,-0.082,0.044,0.012,0.087,-0.0012,-0.0058,3e-05,0.03,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00036,0.021,0.027,0.027,0.0051,0.31,0.31,0.03,2.9e-07,2.9e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32790000,-0.29,0.014,-0.0089,0.96,-0.03,0.096,-0.083,0.049,0.0035,0.072,-0.0012,-0.0058,3.1e-05,0.03,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.026,0.026,0.0051,0.31,0.31,0.03,2.9e-07,2.9e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32890000,-0.29,0.014,-0.0088,0.96,-0.03,0.1,-0.084,0.046,0.013,0.057,-0.0012,-0.0058,3.1e-05,0.03,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.027,0.027,0.0051,0.32,0.32,0.03,2.9e-07,2.9e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
32990000,-0.29,0.014,-0.0087,0.96,-0.025,0.097,-0.084,0.05,-0.0012,0.043,-0.0012,-0.0058,3.2e-05,0.03,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.025,0.025,0.0051,0.31,0.31,0.03,2.9e-07,2.8e-07,4.7e-06,0.029,0.029,9.8e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33090000,-0.29,0.014,-0.0086,0.96,-0.021,0.1,-0.081,0.048,0.0087,0.036,-0.0012,-0.0058,3.2e-05,0.03,-0.028,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.027,0.027,0.0051,0.33,0.33,0.03,2.9e-07,2.8e-07,4.7e-06,0.029,0.029,9.7e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33190000,-0.29,0.014,-0.0085,0.96,-0.016,0.097,-0.08,0.051,-0.0086,0.028,-0.0012,-0.0057,3.3e-05,0.03,-0.027,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.025,0.025,0.0051,0.32,0.32,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.7e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33290000,-0.29,0.014,-0.0085,0.96,-0.013,0.1,-0.079,0.05,0.0014,0.02,-0.0012,-0.0057,3.3e-05,0.03,-0.027,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.027,0.026,0.0051,0.34,0.34,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.7e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33390000,-0.29,0.014,-0.0084,0.96,-0.0079,0.096,-0.078,0.052,-0.0084,0.011,-0.0013,-0.0057,3.4e-05,0.031,-0.026,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.025,0.025,0.0051,0.33,0.33,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33490000,-0.29,0.014,-0.0084,0.96,-0.0042,0.1,-0.077,0.051,0.0014,0.0017,-0.0013,-0.0057,3.4e-05,0.031,-0.026,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00035,0.00035,0.021,0.026,0.026,0.0051,0.35,0.35,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33590000,-0.29,0.014,-0.0082,0.96,-0.00094,0.097,-0.073,0.052,-0.013,-0.0062,-0.0013,-0.0057,3.5e-05,0.031,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.0051,0.34,0.34,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33690000,-0.29,0.014,-0.0082,0.96,0.0029,0.1,-0.074,0.052,-0.0031,-0.014,-0.0013,-0.0057,3.5e-05,0.031,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.36,0.36,0.03,2.8e-07,2.8e-07,4.7e-06,0.029,0.029,9.6e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33790000,-0.29,0.014,-0.0081,0.96,0.007,0.098,-0.069,0.051,-0.018,-0.021,-0.0013,-0.0057,3.6e-05,0.032,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.0051,0.35,0.35,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33890000,-0.29,0.014,-0.0081,0.96,0.011,0.1,-0.068,0.052,-0.0079,-0.028,-0.0013,-0.0057,3.6e-05,0.032,-0.025,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.36,0.36,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
33990000,-0.29,0.014,-0.008,0.96,0.014,0.098,-0.065,0.053,-0.018,-0.031,-0.0013,-0.0057,3.7e-05,0.032,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.005,0.36,0.36,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34090000,-0.29,0.014,-0.008,0.96,0.017,0.1,-0.063,0.055,-0.0075,-0.036,-0.0013,-0.0057,3.8e-05,0.032,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.37,0.37,0.03,2.8e-07,2.7e-07,4.7e-06,0.029,0.029,9.5e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34190000,-0.29,0.014,-0.0079,0.96,0.02,0.099,-0.061,0.052,-0.02,-0.039,-0.0013,-0.0057,3.9e-05,0.032,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.025,0.005,0.37,0.37,0.03,2.7e-07,2.7e-07,4.7e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34290000,-0.29,0.014,-0.0078,0.96,0.02,0.1,-0.06,0.054,-0.0099,-0.045,-0.0013,-0.0057,3.9e-05,0.032,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.38,0.38,0.03,2.7e-07,2.7e-07,4.8e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34390000,-0.29,0.014,-0.0076,0.96,0.022,0.099,-0.055,0.052,-0.023,-0.049,-0.0013,-0.0057,4e-05,0.033,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.025,0.024,0.005,0.38,0.38,0.03,2.7e-07,2.7e-07,4.8e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34490000,-0.29,0.014,-0.0077,0.96,0.025,0.1,-0.053,0.054,-0.012,-0.052,-0.0013,-0.0057,4e-05,0.033,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.026,0.026,0.0051,0.39,0.39,0.03,2.7e-07,2.7e-07,4.8e-06,0.029,0.029,9.4e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34590000,-0.29,0.014,-0.0076,0.96,0.026,0.095,0.74,0.05,-0.028,-0.023,-0.0013,-0.0057,4.1e-05,0.033,-0.022,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.023,0.023,0.005,0.39,0.39,0.03,2.7e-07,2.6e-07,4.8e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34690000,-0.29,0.013,-0.0076,0.96,0.03,0.095,1.7,0.053,-0.018,0.096,-0.0013,-0.0057,4.1e-05,0.033,-0.022,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.024,0.024,0.0051,0.4,0.4,0.03,2.7e-07,2.7e-07,4.8e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34790000,-0.29,0.013,-0.0076,0.96,0.032,0.087,2.7,0.049,-0.032,0.27,-0.0013,-0.0057,4.2e-05,0.035,-0.023,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.023,0.023,0.005,0.4,0.4,0.03,2.7e-07,2.6e-07,4.8e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
34890000,-0.29,0.013,-0.0076,0.96,0.037,0.087,3.7,0.053,-0.024,0.57,-0.0013,-0.0057,4.2e-05,0.036,-0.024,-0.12,-0.017,-0.0038,0.57,0,0,0,0,0,0.00034,0.00034,0.021,0.024,0.024,0.005,0.41,0.41,0.03,2.7e-07,2.6e-07,4.8e-06,0.029,0.029,9.3e-05,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
|
||||
|
||||
|
@@ -301,4 +301,47 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData)
|
||||
<< "estimated vel = " << estimated_horz_velocity(0);
|
||||
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
|
||||
<< "estimated vel = " << estimated_horz_velocity(1);
|
||||
_ekf->state().vector().print();
|
||||
_ekf->covariances().print();
|
||||
}
|
||||
|
||||
TEST_F(EkfFlowTest, yawMotionNoMagFusion)
|
||||
{
|
||||
// WHEN: fusing range finder and optical flow data in air
|
||||
const float simulated_distance_to_ground = 5.f;
|
||||
startRangeFinderFusion(simulated_distance_to_ground);
|
||||
startZeroFlowFusion();
|
||||
_ekf_wrapper.setMagFuseTypeNone();
|
||||
|
||||
_ekf->set_in_air_status(true);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
|
||||
_sensor_simulator.runSeconds(5.f);
|
||||
|
||||
// AND WHEN: there is a pure yaw rotation
|
||||
const Vector3f body_rate(0.f, 0.f, 3.14159f);
|
||||
const Vector3f flow_offset(-0.15, 0.05f, 0.2f);
|
||||
_ekf_wrapper.setFlowOffset(flow_offset);
|
||||
|
||||
const Vector2f simulated_horz_velocity(body_rate % flow_offset);
|
||||
flowSample flow_sample = _sensor_simulator._flow.dataAtRest();
|
||||
setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, simulated_distance_to_ground);
|
||||
|
||||
// use flow sensor gyro data
|
||||
// for clarification of the sign, see definition of flowSample
|
||||
flow_sample.gyro_rate = -body_rate;
|
||||
|
||||
_sensor_simulator._flow.setData(flow_sample);
|
||||
_sensor_simulator._imu.setGyroData(body_rate);
|
||||
_sensor_simulator.runSeconds(10.f);
|
||||
|
||||
// THEN: the flow due to the yaw rotation and the offsets is canceled
|
||||
// and the velocity estimate stays 0
|
||||
const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
|
||||
EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f)
|
||||
<< "estimated vel = " << estimated_horz_velocity(0);
|
||||
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
|
||||
<< "estimated vel = " << estimated_horz_velocity(1);
|
||||
_ekf->state().vector().print();
|
||||
_ekf->covariances().print();
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user