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EKF: Remove use of of quaternion self product operator and fix delta rotation sign

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Paul Riseborough
2019-06-14 10:00:45 +10:00
committed by Paul Riseborough
parent 0e946f25fd
commit a036cf82cc
3 changed files with 9 additions and 11 deletions
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EKF/control.cpp
+2 -3
View File
@@ -226,12 +226,11 @@ void Ekf::controlExternalVisionFusion()
increaseQuatYawErrVariance(sq(fmaxf(_ev_sample_delayed.angErr, 1.0e-2f))); increaseQuatYawErrVariance(sq(fmaxf(_ev_sample_delayed.angErr, 1.0e-2f)));
// calculate the amount that the quaternion has changed by // calculate the amount that the quaternion has changed by
_state_reset_status.quat_change = quat_before_reset.inversed() * _state.quat_nominal; _state_reset_status.quat_change = _state.quat_nominal * quat_before_reset.inversed();
// add the reset amount to the output observer buffered data // add the reset amount to the output observer buffered data
// Note q1 *= q2 is equivalent to q1 = q2 * q1
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
_output_buffer[i].quat_nominal *= _state_reset_status.quat_change; _output_buffer[i].quat_nominal = _state_reset_status.quat_change * _output_buffer[i].quat_nominal;
} }
// apply the change in attitude quaternion to our newest quaternion estimate // apply the change in attitude quaternion to our newest quaternion estimate
EKF/ekf_helper.cpp
+5 -5
View File
@@ -378,8 +378,8 @@ void Ekf::resetHeight()
// align output filter states to match EKF states at the fusion time horizon // align output filter states to match EKF states at the fusion time horizon
void Ekf::alignOutputFilter() void Ekf::alignOutputFilter()
{ {
// calculate the quaternion delta between the output and EKF quaternions at the EKF fusion time horizon // calculate the quaternion rotation delta from the EKF to output observer states at the EKF fusion time horizon
Quatf q_delta = _output_sample_delayed.quat_nominal.inversed() * _state.quat_nominal; Quatf q_delta = _state.quat_nominal * _output_sample_delayed.quat_nominal.inversed();
q_delta.normalize(); q_delta.normalize();
// calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon // calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon
@@ -388,16 +388,16 @@ void Ekf::alignOutputFilter()
// loop through the output filter state history and add the deltas // loop through the output filter state history and add the deltas
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
_output_buffer[i].quat_nominal *= q_delta; _output_buffer[i].quat_nominal = q_delta * _output_buffer[i].quat_nominal;
_output_buffer[i].quat_nominal.normalize(); _output_buffer[i].quat_nominal.normalize();
_output_buffer[i].vel += vel_delta; _output_buffer[i].vel += vel_delta;
_output_buffer[i].pos += pos_delta; _output_buffer[i].pos += pos_delta;
} }
_output_new.quat_nominal *= q_delta; _output_new.quat_nominal = q_delta * _output_new.quat_nominal;
_output_new.quat_nominal.normalize(); _output_new.quat_nominal.normalize();
_output_sample_delayed.quat_nominal *= q_delta; _output_sample_delayed.quat_nominal = q_delta * _output_sample_delayed.quat_nominal;
_output_sample_delayed.quat_nominal.normalize(); _output_sample_delayed.quat_nominal.normalize();
} }
EKF/gps_yaw_fusion.cpp
+2 -3
View File
@@ -367,7 +367,7 @@ bool Ekf::resetGpsAntYaw()
} }
// calculate the amount that the quaternion has changed by // calculate the amount that the quaternion has changed by
Quatf q_error = quat_before_reset.inversed() * _state.quat_nominal; Quatf q_error = _state.quat_nominal * quat_before_reset.inversed();
q_error.normalize(); q_error.normalize();
// convert the quaternion delta to a delta angle // convert the quaternion delta to a delta angle
@@ -407,8 +407,7 @@ bool Ekf::resetGpsAntYaw()
// add the reset amount to the output observer buffered data // add the reset amount to the output observer buffered data
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
// Note q1 *= q2 is equivalent to q1 = q2 * q1 _output_buffer[i].quat_nominal = _state_reset_status.quat_change * _output_buffer[i].quat_nominal;
_output_buffer[i].quat_nominal *= _state_reset_status.quat_change;
} }
// apply the change in attitude quaternion to our newest quaternion estimate // apply the change in attitude quaternion to our newest quaternion estimate