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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-15 18:23:34 +08:00
ekf2: refactor vertical acceleration check for multiple height sources
This commit is contained in:
bresch
@@ -61,6 +61,7 @@ px4_add_module(
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EKF/gps_control.cpp
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EKF/gps_fusion.cpp
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EKF/gps_yaw_fusion.cpp
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EKF/height_control.cpp
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EKF/height_fusion.cpp
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EKF/imu_down_sampler.cpp
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EKF/mag_control.cpp
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@@ -46,6 +46,7 @@ add_library(ecl_EKF
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gps_control.cpp
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gps_fusion.cpp
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gps_yaw_fusion.cpp
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height_control.cpp
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height_fusion.cpp
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imu_down_sampler.cpp
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mag_control.cpp
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@@ -657,101 +657,6 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
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}
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}
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void Ekf::checkVerticalAccelerationHealth()
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{
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// Check for IMU accelerometer vibration induced clipping as evidenced by the vertical
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// innovations being positive and not stale.
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// Clipping usually causes the average accel reading to move towards zero which makes the INS
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// think it is falling and produces positive vertical innovations.
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// Don't use stale innovation data.
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bool is_inertial_nav_falling = false;
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bool are_vertical_pos_and_vel_independant = false;
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bool is_using_multiple_hgt_sources = false;
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if (_control_status.flags.gps) {
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// GNSS velocity
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const auto &gps_vel = _aid_src_gnss_vel;
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if (gps_vel.time_last_fuse[2] > _vert_vel_fuse_time_us) {
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_vert_vel_fuse_time_us = gps_vel.time_last_fuse[2];
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_vert_vel_innov_ratio = gps_vel.innovation[2] / sqrtf(gps_vel.innovation_variance[2]);
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}
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// GNSS position
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const auto &gps_pos = _aid_src_gnss_pos;
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if (gps_pos.time_last_fuse[2] > _vert_pos_fuse_attempt_time_us) {
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_vert_pos_fuse_attempt_time_us = gps_pos.time_last_fuse[2];
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_vert_pos_innov_ratio = gps_pos.innovation[2] / sqrtf(gps_pos.innovation_variance[2]);
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}
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}
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if (_control_status.flags.baro_hgt) {
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// baro height
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const auto &baro_hgt = _aid_src_baro_hgt;
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if (baro_hgt.time_last_fuse > _vert_pos_fuse_attempt_time_us) {
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_vert_pos_fuse_attempt_time_us = baro_hgt.time_last_fuse;
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_vert_pos_innov_ratio = baro_hgt.innovation / sqrtf(baro_hgt.innovation_variance);
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}
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}
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if (isRecent(_vert_pos_fuse_attempt_time_us, 1000000)) {
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is_using_multiple_hgt_sources = _control_status.flags.gps_hgt && _control_status.flags.baro_hgt;
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if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
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// If vertical position and velocity come from independent sensors then we can
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// trust them more if they disagree with the IMU, but need to check that they agree
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const bool using_gps_for_both = _control_status.flags.gps_hgt && _control_status.flags.gps;
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const bool using_ev_for_both = _control_status.flags.ev_hgt && _control_status.flags.ev_vel;
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are_vertical_pos_and_vel_independant = !(using_gps_for_both || using_ev_for_both);
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is_inertial_nav_falling |= _vert_vel_innov_ratio > _params.vert_innov_test_lim && _vert_pos_innov_ratio > _params.vert_innov_test_min;
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is_inertial_nav_falling |= _vert_pos_innov_ratio > _params.vert_innov_test_lim && _vert_vel_innov_ratio > _params.vert_innov_test_min;
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} else {
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// only height sensing available
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is_inertial_nav_falling = _vert_pos_innov_ratio > _params.vert_innov_test_lim;
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}
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}
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// Check for more than 50% clipping affected IMU samples within the past 1 second
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const uint16_t clip_count_limit = 1.f / _dt_ekf_avg;
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const bool is_clipping = _imu_sample_delayed.delta_vel_clipping[0] ||
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_imu_sample_delayed.delta_vel_clipping[1] ||
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_imu_sample_delayed.delta_vel_clipping[2];
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if (is_clipping && _clip_counter < clip_count_limit) {
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_clip_counter++;
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} else if (_clip_counter > 0) {
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_clip_counter--;
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}
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_fault_status.flags.bad_acc_clipping = _clip_counter > clip_count_limit / 2;
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const bool is_clipping_frequently = _clip_counter > 0;
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// if vertical velocity and position are independent and agree, then do not require evidence of clipping if
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// innovations are large
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const bool bad_vert_accel = (are_vertical_pos_and_vel_independant || is_using_multiple_hgt_sources || is_clipping_frequently) && is_inertial_nav_falling;
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if (bad_vert_accel) {
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_time_bad_vert_accel = _time_last_imu;
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} else {
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_time_good_vert_accel = _time_last_imu;
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}
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// declare a bad vertical acceleration measurement and make the declaration persist
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// for a minimum of BADACC_PROBATION seconds
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if (_fault_status.flags.bad_acc_vertical) {
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_fault_status.flags.bad_acc_vertical = isRecent(_time_bad_vert_accel, BADACC_PROBATION);
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} else {
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_fault_status.flags.bad_acc_vertical = bad_vert_accel;
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}
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}
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void Ekf::controlHeightFusion()
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{
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checkVerticalAccelerationHealth();
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@@ -53,6 +53,8 @@
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#include <uORB/topics/estimator_aid_source_2d.h>
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#include <uORB/topics/estimator_aid_source_3d.h>
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enum class Likelihood { LOW, MEDIUM, HIGH };
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class Ekf final : public EstimatorInterface
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{
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public:
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@@ -939,6 +941,7 @@ private:
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void controlAuxVelFusion();
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void checkVerticalAccelerationHealth();
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Likelihood estimateInertialNavFallingLikelihood() const;
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// control for combined height fusion mode (implemented for switching between baro and range height)
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void controlHeightFusion();
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@@ -528,6 +528,36 @@ bool EstimatorInterface::isHorizontalAidingActive() const
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return getNumberOfActiveHorizontalAidingSources() > 0;
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}
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bool EstimatorInterface::isOtherSourceOfVerticalPositionAidingThan(const bool aiding_flag) const
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{
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const int nb_sources = getNumberOfActiveVerticalPositionAidingSources();
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return aiding_flag ? nb_sources > 1 : nb_sources > 0;
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}
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bool EstimatorInterface::isVerticalPositionAidingActive() const
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{
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return getNumberOfActiveVerticalPositionAidingSources() > 0;
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}
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int EstimatorInterface::getNumberOfActiveVerticalPositionAidingSources() const
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{
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return int(_control_status.flags.gps_hgt)
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+ int(_control_status.flags.baro_hgt)
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+ int(_control_status.flags.rng_hgt)
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+ int(_control_status.flags.ev_hgt);
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}
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bool EstimatorInterface::isVerticalVelocityAidingActive() const
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{
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return getNumberOfActiveVerticalVelocityAidingSources() > 0;
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}
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int EstimatorInterface::getNumberOfActiveVerticalVelocityAidingSources() const
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{
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return int(_control_status.flags.gps)
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+ int(_control_status.flags.ev_vel);
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}
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void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name)
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{
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if (buffer_name) {
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@@ -181,6 +181,13 @@ public:
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int getNumberOfActiveHorizontalAidingSources() const;
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bool isOtherSourceOfVerticalPositionAidingThan(bool aiding_flag) const;
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bool isVerticalPositionAidingActive() const;
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int getNumberOfActiveVerticalPositionAidingSources() const;
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bool isVerticalVelocityAidingActive() const;
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int getNumberOfActiveVerticalVelocityAidingSources() const;
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const matrix::Quatf &getQuaternion() const { return _output_new.quat_nominal; }
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// get the velocity of the body frame origin in local NED earth frame
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@@ -0,0 +1,188 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file height_control.cpp
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*/
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#include "ekf.h"
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void Ekf::checkVerticalAccelerationHealth()
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{
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// Check for IMU accelerometer vibration induced clipping as evidenced by the vertical
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// innovations being positive and not stale.
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// Clipping usually causes the average accel reading to move towards zero which makes the INS
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// think it is falling and produces positive vertical innovations.
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Likelihood inertial_nav_falling_likelihood = estimateInertialNavFallingLikelihood();
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// Check for more than 50% clipping affected IMU samples within the past 1 second
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const uint16_t clip_count_limit = 1.f / _dt_ekf_avg;
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const bool is_clipping = _imu_sample_delayed.delta_vel_clipping[0] ||
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_imu_sample_delayed.delta_vel_clipping[1] ||
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_imu_sample_delayed.delta_vel_clipping[2];
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if (is_clipping && _clip_counter < clip_count_limit) {
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_clip_counter++;
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} else if (_clip_counter > 0) {
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_clip_counter--;
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}
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_fault_status.flags.bad_acc_clipping = _clip_counter > clip_count_limit / 2;
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const bool is_clipping_frequently = _clip_counter > 0;
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// Do not require evidence of clipping if the likelihood of having the INS falling is high
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const bool bad_vert_accel = (is_clipping_frequently && (inertial_nav_falling_likelihood == Likelihood::MEDIUM))
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|| (inertial_nav_falling_likelihood == Likelihood::HIGH);
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if (bad_vert_accel) {
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_time_bad_vert_accel = _time_last_imu;
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} else {
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_time_good_vert_accel = _time_last_imu;
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}
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// declare a bad vertical acceleration measurement and make the declaration persist
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// for a minimum of BADACC_PROBATION seconds
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if (_fault_status.flags.bad_acc_vertical) {
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_fault_status.flags.bad_acc_vertical = isRecent(_time_bad_vert_accel, BADACC_PROBATION);
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} else {
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_fault_status.flags.bad_acc_vertical = bad_vert_accel;
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}
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}
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Likelihood Ekf::estimateInertialNavFallingLikelihood() const
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{
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bool likelihood_high = false;
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bool likelihood_medium = false;
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bool failed_min[4] = {false, false, false, false};
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bool failed_lim[4] = {false, false, false, false};
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if (isVerticalPositionAidingActive()) {
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if (_control_status.flags.baro_hgt) {
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const float innov_ratio = _aid_src_baro_hgt.innovation / sqrtf(_aid_src_baro_hgt.innovation_variance);
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failed_min[HeightSensorRef::BARO] = innov_ratio > _params.vert_innov_test_min;
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failed_lim[HeightSensorRef::BARO] = innov_ratio > _params.vert_innov_test_lim;
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}
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if (_control_status.flags.gps_hgt) {
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const float innov_ratio = _aid_src_gnss_pos.innovation[2] / sqrtf(_aid_src_gnss_pos.innovation_variance[2]);
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failed_min[HeightSensorRef::GPS] = innov_ratio > _params.vert_innov_test_min;
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failed_lim[HeightSensorRef::GPS] = innov_ratio > _params.vert_innov_test_lim;
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}
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if (_control_status.flags.rng_hgt) {
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const float innov_ratio = _aid_src_rng_hgt.innovation / sqrtf(_aid_src_rng_hgt.innovation_variance);
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failed_min[HeightSensorRef::RANGE] = innov_ratio > _params.vert_innov_test_min;
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failed_lim[HeightSensorRef::RANGE] = innov_ratio > _params.vert_innov_test_lim;
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}
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if (_control_status.flags.ev_hgt) {
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const float innov_ratio = _ev_pos_innov(2) / sqrtf(_ev_pos_innov_var(2));
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failed_min[HeightSensorRef::EV] = innov_ratio > _params.vert_innov_test_min;
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failed_lim[HeightSensorRef::EV] = innov_ratio > _params.vert_innov_test_lim;
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}
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for (unsigned i = 0; i < 4; i++) {
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if (failed_lim[i]) {
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// There is a chance that the interial nav is falling if one height source is failing the test
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likelihood_medium = true;
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}
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for (unsigned j = 0; j < 4; j++) {
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if ((i != j) && failed_lim[i] && failed_min[j]) {
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// There is a high chance that the interial nav is falling if two height sources are failing the test
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likelihood_high = true;
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}
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}
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}
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}
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if (isVerticalVelocityAidingActive()) {
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bool gps_vel_failed_min = false;
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bool gps_vel_failed_lim = false;
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if (_control_status.flags.gps) {
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const float innov_ratio = _aid_src_gnss_vel.innovation[2] / sqrtf(_aid_src_gnss_vel.innovation_variance[2]);
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gps_vel_failed_min = innov_ratio > _params.vert_innov_test_min;
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gps_vel_failed_lim = innov_ratio > _params.vert_innov_test_lim;
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}
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bool ev_vel_failed_min = false;
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bool ev_vel_failed_lim = false;
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if (_control_status.flags.ev_vel) {
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const float innov_ratio = _ev_vel_innov(2) / sqrtf(_ev_vel_innov_var(2));
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ev_vel_failed_min = innov_ratio > _params.vert_innov_test_min;
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ev_vel_failed_lim = innov_ratio > _params.vert_innov_test_lim;
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}
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// If vertical position and velocity come from independent sensors then we can
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// trust them more if they disagree with the IMU, but need to check that they agree
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likelihood_high |= gps_vel_failed_lim && (failed_min[HeightSensorRef::BARO]
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|| failed_min[HeightSensorRef::RANGE]
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|| failed_min[HeightSensorRef::EV]
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|| ev_vel_failed_min);
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likelihood_high |= gps_vel_failed_min && (failed_lim[HeightSensorRef::BARO]
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|| failed_lim[HeightSensorRef::RANGE]
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|| failed_lim[HeightSensorRef::EV]
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|| ev_vel_failed_lim);
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likelihood_high |= ev_vel_failed_lim && (failed_min[HeightSensorRef::BARO]
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|| failed_min[HeightSensorRef::RANGE]
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|| failed_min[HeightSensorRef::GPS]
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|| gps_vel_failed_min);
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likelihood_high |= ev_vel_failed_min && (failed_lim[HeightSensorRef::BARO]
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|| failed_lim[HeightSensorRef::RANGE]
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|| failed_lim[HeightSensorRef::GPS]
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|| gps_vel_failed_lim);
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likelihood_medium |= gps_vel_failed_lim;
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likelihood_medium |= ev_vel_failed_lim;
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}
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if (likelihood_high) {
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return Likelihood::HIGH;
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} else if (likelihood_medium) {
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return Likelihood::MEDIUM;
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}
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return Likelihood::LOW;
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}
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