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ekf2-terrain: make terrain validity based on uncertainty

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When using optical flow for terrain aiding, we cannot assume that the
terrain estimate is valid if flow is fused as is can only be observed
during motion. When no direct observation is available, the terrain is
assumed to be valid if its 1sigma uncertainty is < 10% of the hagl.
This commit is contained in:
bresch 2024-06-25 12:05:05 +02:00 committed by Silvan Fuhrer
parent a665764b0e
commit a50ef2eb5e
5 changed files with 54 additions and 59 deletions
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15
src/modules/ekf2/EKF/terrain_control.cpp
View File

@ -36,7 +36,7 @@
*/
#include "ekf.h"
#include "ekf_derivation/generated/state.h"
#include "ekf_derivation/generated/compute_hagl_innov_var.h"
#include <mathlib/mathlib.h>
@ -86,23 +86,18 @@ void Ekf::controlTerrainFakeFusion()
bool Ekf::isTerrainEstimateValid() const
{
// Assume being valid when the uncertainty is small compared to the height above ground
bool valid = getTerrainVariance() < sq(0.1f * getHagl());
float hagl_var = INFINITY;
sym::ComputeHaglInnovVar(P, 0.f, &hagl_var);
bool valid = hagl_var < fmaxf(sq(0.1f * getHagl()), 0.2f);
#if defined(CONFIG_EKF2_RANGE_FINDER)
// Assume that the terrain estimate is always valid when direct observations are fused
if (_hagl_sensor_status.flags.range_finder && isRecent(_aid_src_rng_hgt.time_last_fuse, (uint64_t)5e6)) {
valid = true;
}
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
if (_hagl_sensor_status.flags.flow && isRecent(_aid_src_optical_flow.time_last_fuse, (uint64_t)5e6)) {
valid = true;
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
return valid;
}

62
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -358,34 +358,34 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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28
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

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349 34690000,-0.3,0.014,-0.0051,0.95,0.05,0.1,1.7,0.097,-0.011,0.095,-0.0013,-0.0057,-3.7e-05,0.066,0.014,-0.12,-0.11,-0.025,0.5,0.085,-0.031,-0.067,0,0,0.12,4.1e-05,3.6e-05,0.046,0.02,0.021,0.005,0.39,0.39,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,6.4e-05,0.0012,0.0011,0.00062,0.0012,1,1,0.36 34690000,-0.3,0.014,-0.0051,0.95,0.05,0.1,1.7,0.097,-0.011,0.087,-0.0013,-0.0057,-3.7e-05,0.066,0.014,-0.12,-0.11,-0.025,0.5,0.085,-0.031,-0.067,0,0,0.12,4.1e-05,3.6e-05,0.046,0.02,0.021,0.005,0.39,0.39,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,6.4e-05,0.0012,0.0011,0.00062,0.0012,1,1,0.36
350 34790000,-0.3,0.014,-0.005,0.95,0.051,0.099,2.7,0.091,-0.025,0.27,-0.0013,-0.0057,-4.7e-05,0.066,0.014,-0.12,-0.11,-0.025,0.5,0.085,-0.031,-0.067,0,0,0.12,4.1e-05,3.6e-05,0.046,0.019,0.019,0.005,0.39,0.39,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,6.3e-05,0.0012,0.0011,0.00062,0.0012,1,1,0.38
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4
src/modules/ekf2/test/test_EKF_flow.cpp
View File

@ -178,9 +178,9 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround)
EXPECT_TRUE(isEqual(estimated_horz_velocity, Vector2f(0.f, 0.f)))
<< estimated_horz_velocity(0) << ", " << estimated_horz_velocity(1);
// AND: the velocity isn't reset as it is already correct
// AND: the horizontal velocity is reset to the flow value
reset_logging_checker.capturePostResetState();
EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(0));
EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
}

4
src/modules/ekf2/test/test_EKF_terrain.cpp
View File

@ -154,7 +154,7 @@ TEST_F(EkfTerrainTest, testFlowForTerrainFusion)
// WHEN: the sensors do not agree
const float rng_height = 1.f;
const float flow_height = 5.f;
const float flow_height = 8.f;
runFlowAndRngScenario(rng_height, flow_height);
// THEN: the estimator should use flow for terrain and the estimated terrain height
@ -175,7 +175,7 @@ TEST_F(EkfTerrainTest, testRngForTerrainFusion)
// WHEN: the sensors do not agree
const float rng_height = 1.f;
const float flow_height = 5.f;
const float flow_height = 8.f;
runFlowAndRngScenario(rng_height, flow_height);
// THEN: the estimator should use rng for terrain and the estimated terrain height