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ekf2: refactor wind reset functions

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This commit is contained in:
bresch
2021-10-26 10:18:56 +02:00
committed by Mathieu Bresciani
parent 456dfcb4b9
commit d0f89f7fff
6 changed files with 69 additions and 62 deletions
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src/modules/ekf2/EKF/covariance.cpp
+23 -29
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@@ -1140,39 +1140,33 @@ void Ekf::resetZDeltaAngBiasCov()
P.uncorrelateCovarianceSetVariance<1>(12, init_delta_ang_bias_var);
}
void Ekf::resetWindCovariance()
void Ekf::resetWindCovarianceUsingAirspeed()
{
if (_tas_data_ready && (_imu_sample_delayed.time_us - _airspeed_sample_delayed.time_us < (uint64_t)5e5)) {
// Derived using EKF/matlab/scripts/Inertial Nav EKF/wind_cov.py
// TODO: explicitly include the sideslip angle in the derivation
const float euler_yaw = getEuler321Yaw(_state.quat_nominal);
const float R_TAS = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * math::constrain(_airspeed_sample_delayed.eas2tas, 0.9f, 10.0f));
constexpr float initial_sideslip_uncertainty = math::radians(15.0f);
const float initial_wind_var_body_y = sq(_airspeed_sample_delayed.true_airspeed * sinf(initial_sideslip_uncertainty));
constexpr float R_yaw = sq(math::radians(10.0f));
// Derived using EKF/matlab/scripts/Inertial Nav EKF/wind_cov.py
// TODO: explicitly include the sideslip angle in the derivation
const float euler_yaw = getEuler321Yaw(_state.quat_nominal);
const float R_TAS = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * math::constrain(_airspeed_sample_delayed.eas2tas, 0.9f, 10.0f));
constexpr float initial_sideslip_uncertainty = math::radians(15.0f);
const float initial_wind_var_body_y = sq(_airspeed_sample_delayed.true_airspeed * sinf(initial_sideslip_uncertainty));
constexpr float R_yaw = sq(math::radians(10.0f));
const float cos_yaw = cosf(euler_yaw);
const float sin_yaw = sinf(euler_yaw);
const float cos_yaw = cosf(euler_yaw);
const float sin_yaw = sinf(euler_yaw);
// rotate wind velocity into earth frame aligned with vehicle yaw
const float Wx = _state.wind_vel(0) * cos_yaw + _state.wind_vel(1) * sin_yaw;
const float Wy = -_state.wind_vel(0) * sin_yaw + _state.wind_vel(1) * cos_yaw;
// rotate wind velocity into earth frame aligned with vehicle yaw
const float Wx = _state.wind_vel(0) * cos_yaw + _state.wind_vel(1) * sin_yaw;
const float Wy = -_state.wind_vel(0) * sin_yaw + _state.wind_vel(1) * cos_yaw;
// it is safer to remove all existing correlations to other states at this time
P.uncorrelateCovarianceSetVariance<2>(22, 0.0f);
// it is safer to remove all existing correlations to other states at this time
P.uncorrelateCovarianceSetVariance<2>(22, 0.0f);
P(22, 22) = R_TAS * sq(cos_yaw) + R_yaw * sq(-Wx * sin_yaw - Wy * cos_yaw) + initial_wind_var_body_y * sq(sin_yaw);
P(22, 23) = R_TAS * sin_yaw * cos_yaw + R_yaw * (-Wx * sin_yaw - Wy * cos_yaw) * (Wx * cos_yaw - Wy * sin_yaw) -
initial_wind_var_body_y * sin_yaw * cos_yaw;
P(23, 22) = P(22, 23);
P(23, 23) = R_TAS * sq(sin_yaw) + R_yaw * sq(Wx * cos_yaw - Wy * sin_yaw) + initial_wind_var_body_y * sq(cos_yaw);
P(22, 22) = R_TAS * sq(cos_yaw) + R_yaw * sq(-Wx * sin_yaw - Wy * cos_yaw) + initial_wind_var_body_y * sq(sin_yaw);
P(22, 23) = R_TAS * sin_yaw * cos_yaw + R_yaw * (-Wx * sin_yaw - Wy * cos_yaw) * (Wx * cos_yaw - Wy * sin_yaw) -
initial_wind_var_body_y * sin_yaw * cos_yaw;
P(23, 22) = P(22, 23);
P(23, 23) = R_TAS * sq(sin_yaw) + R_yaw * sq(Wx * cos_yaw - Wy * sin_yaw) + initial_wind_var_body_y * sq(cos_yaw);
// Now add the variance due to uncertainty in vehicle velocity that was used to calculate the initial wind speed
P(22, 22) += P(4, 4);
P(23, 23) += P(5, 5);
} else {
// without airspeed, start with a small initial uncertainty to improve the initial estimate
P.uncorrelateCovarianceSetVariance<2>(22, _params.initial_wind_uncertainty);
}
// Now add the variance due to uncertainty in vehicle velocity that was used to calculate the initial wind speed
P(22, 22) += P(4, 4);
P(23, 23) += P(5, 5);
}