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ekf2: use Joseph stabilized covariance update

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This commit is contained in:
bresch
2024-02-26 12:32:59 -05:00
committed by Daniel Agar
parent d988005216
commit 9d9766c6cf
13 changed files with 301 additions and 281 deletions
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src/modules/ekf2/test/test_EKF_flow.cpp
+43
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@@ -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();
}