mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
4d37065f1b
The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
285 lines
21 KiB
C++
285 lines
21 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name ECL nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file sideslip_fusion.cpp
|
|
* sideslip fusion methods.
|
|
*
|
|
* @author Carl Olsson <carlolsson.co@gmail.com>
|
|
* @author Paul Riseborough <p_riseborough@live.com.au>
|
|
*
|
|
*/
|
|
|
|
#include "ekf.h"
|
|
#include <ecl.h>
|
|
#include <mathlib/mathlib.h>
|
|
|
|
void Ekf::fuseSideslip()
|
|
{
|
|
float SH_BETA[13] = {}; // Variable used to optimise calculations of measurement jacobian
|
|
float H_BETA[24] = {}; // Observation Jacobian
|
|
float SK_BETA[8] = {}; // Variable used to optimise calculations of the Kalman gain vector
|
|
float Kfusion[24] = {}; // Kalman gain vector
|
|
float R_BETA = _params.beta_noise;
|
|
|
|
// get latest estimated orientation
|
|
float q0 = _state.quat_nominal(0);
|
|
float q1 = _state.quat_nominal(1);
|
|
float q2 = _state.quat_nominal(2);
|
|
float q3 = _state.quat_nominal(3);
|
|
|
|
// get latest velocity in earth frame
|
|
float vn = _state.vel(0);
|
|
float ve = _state.vel(1);
|
|
float vd = _state.vel(2);
|
|
|
|
// get latest wind velocity in earth frame
|
|
float vwn = _state.wind_vel(0);
|
|
float vwe = _state.wind_vel(1);
|
|
|
|
// relative wind velocity in earth frame
|
|
Vector3f rel_wind;
|
|
rel_wind(0) = vn - vwn;
|
|
rel_wind(1) = ve - vwe;
|
|
rel_wind(2) = vd;
|
|
|
|
Dcmf earth_to_body = quat_to_invrotmat(_state.quat_nominal);
|
|
|
|
// rotate into body axes
|
|
rel_wind = earth_to_body * rel_wind;
|
|
|
|
// perform fusion of assumed sideslip = 0
|
|
if (rel_wind.norm() > 7.0f) {
|
|
// Calculate the observation jacobians
|
|
|
|
// intermediate variable from algebraic optimisation
|
|
SH_BETA[0] = (vn - vwn)*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) - vd*(2.0f*q0*q2 - 2.0f*q1*q3) + (ve - vwe)*(2.0f*q0*q3 + 2.0f*q1*q2);
|
|
|
|
if (fabsf(SH_BETA[0]) <= 1e-9f) {
|
|
return;
|
|
}
|
|
|
|
SH_BETA[1] = (ve - vwe)*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + vd*(2.0f*q0*q1 + 2.0f*q2*q3) - (vn - vwn)*(2.0f*q0*q3 - 2.0f*q1*q2);
|
|
SH_BETA[2] = vn - vwn;
|
|
SH_BETA[3] = ve - vwe;
|
|
SH_BETA[4] = 1.0f/sq(SH_BETA[0]);
|
|
SH_BETA[5] = 1.0f/SH_BETA[0];
|
|
SH_BETA[6] = SH_BETA[5]*(sq(q0) - sq(q1) + sq(q2) - sq(q3));
|
|
SH_BETA[7] = sq(q0) + sq(q1) - sq(q2) - sq(q3);
|
|
SH_BETA[8] = 2.0f*q0*SH_BETA[3] - 2.0f*q3*SH_BETA[2] + 2.0f*q1*vd;
|
|
SH_BETA[9] = 2.0f*q0*SH_BETA[2] + 2.0f*q3*SH_BETA[3] - 2.0f*q2*vd;
|
|
SH_BETA[10] = 2.0f*q2*SH_BETA[2] - 2.0f*q1*SH_BETA[3] + 2.0f*q0*vd;
|
|
SH_BETA[11] = 2.0f*q1*SH_BETA[2] + 2.0f*q2*SH_BETA[3] + 2.0f*q3*vd;
|
|
SH_BETA[12] = 2.0f*q0*q3;
|
|
|
|
H_BETA[0] = SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9];
|
|
H_BETA[1] = SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11];
|
|
H_BETA[2] = SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10];
|
|
H_BETA[3] = - SH_BETA[5]*SH_BETA[9] - SH_BETA[1]*SH_BETA[4]*SH_BETA[8];
|
|
H_BETA[4] = - SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) - SH_BETA[1]*SH_BETA[4]*SH_BETA[7];
|
|
H_BETA[5] = SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2);
|
|
H_BETA[6] = SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3);
|
|
H_BETA[22] = SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7];
|
|
H_BETA[23] = SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2) - SH_BETA[6];
|
|
|
|
for (uint8_t i = 7; i <= 21; i++) {
|
|
H_BETA[i] = 0.0f;
|
|
}
|
|
|
|
// determine if we need the sideslip fusion to correct states other than wind
|
|
bool update_wind_only = !_is_wind_dead_reckoning;
|
|
|
|
// intermediate variables - note SK_BETA[0] is 1/(innovation variance)
|
|
_beta_innov_var = (R_BETA - (SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7])*(P[22][4]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][4]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][4]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][4]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][4]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][4]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][4]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][4]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][4]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))) + (SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7])*(P[22][22]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][22]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][22]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][22]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][22]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][22]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][22]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][22]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][22]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))) + (SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2))*(P[22][5]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][5]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][5]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][5]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][5]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][5]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][5]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][5]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][5]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))) - (SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2))*(P[22][23]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][23]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][23]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][23]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][23]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][23]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][23]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][23]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][23]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))) + (SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9])*(P[22][0]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][0]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][0]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][0]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][0]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][0]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][0]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][0]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][0]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))) + (SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11])*(P[22][1]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][1]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][1]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][1]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][1]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][1]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][1]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][1]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][1]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))) + (SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10])*(P[22][2]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][2]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][2]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][2]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][2]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][2]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][2]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][2]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][2]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))) - (SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8])*(P[22][3]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][3]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][3]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][3]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][3]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][3]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][3]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][3]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][3]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))) + (SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))*(P[22][6]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) - P[4][6]*(SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7]) + P[5][6]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) - P[23][6]*(SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2)) + P[0][6]*(SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9]) + P[1][6]*(SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11]) + P[2][6]*(SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10]) - P[3][6]*(SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8]) + P[6][6]*(SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3))));
|
|
if (_beta_innov_var >= R_BETA) {
|
|
SK_BETA[0] = 1.0f / _beta_innov_var;
|
|
_fault_status.flags.bad_sideslip = false;
|
|
|
|
} else { // Reset the estimator
|
|
_fault_status.flags.bad_sideslip = true;
|
|
|
|
// if we are getting aiding from other sources, warn and reset the wind states and covariances only
|
|
if (update_wind_only) {
|
|
resetWindStates();
|
|
resetWindCovariance();
|
|
ECL_ERR_TIMESTAMPED("EKF synthetic sideslip fusion badly conditioned - wind covariance reset");
|
|
|
|
} else {
|
|
initialiseCovariance();
|
|
_state.wind_vel.setZero();
|
|
ECL_ERR_TIMESTAMPED("EKF synthetic sideslip fusion badly conditioned - full covariance reset");
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
SK_BETA[1] = SH_BETA[5]*(SH_BETA[12] - 2.0f*q1*q2) + SH_BETA[1]*SH_BETA[4]*SH_BETA[7];
|
|
SK_BETA[2] = SH_BETA[6] - SH_BETA[1]*SH_BETA[4]*(SH_BETA[12] + 2.0f*q1*q2);
|
|
SK_BETA[3] = SH_BETA[5]*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_BETA[1]*SH_BETA[4]*(2.0f*q0*q2 - 2.0f*q1*q3);
|
|
SK_BETA[4] = SH_BETA[5]*SH_BETA[10] - SH_BETA[1]*SH_BETA[4]*SH_BETA[11];
|
|
SK_BETA[5] = SH_BETA[5]*SH_BETA[8] - SH_BETA[1]*SH_BETA[4]*SH_BETA[9];
|
|
SK_BETA[6] = SH_BETA[5]*SH_BETA[11] + SH_BETA[1]*SH_BETA[4]*SH_BETA[10];
|
|
SK_BETA[7] = SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8];
|
|
|
|
// Calculate Kalman gains
|
|
if (update_wind_only) {
|
|
// If we are getting aiding from other sources, then don't allow the sideslip fusion to affect the non-windspeed states
|
|
for (unsigned row = 0; row <= 21; row++) {
|
|
Kfusion[row] = 0.0f;
|
|
|
|
}
|
|
|
|
} else {
|
|
Kfusion[0] = SK_BETA[0]*(P[0][0]*SK_BETA[5] + P[0][1]*SK_BETA[4] - P[0][4]*SK_BETA[1] + P[0][5]*SK_BETA[2] + P[0][2]*SK_BETA[6] + P[0][6]*SK_BETA[3] - P[0][3]*SK_BETA[7] + P[0][22]*SK_BETA[1] - P[0][23]*SK_BETA[2]);
|
|
Kfusion[1] = SK_BETA[0]*(P[1][0]*SK_BETA[5] + P[1][1]*SK_BETA[4] - P[1][4]*SK_BETA[1] + P[1][5]*SK_BETA[2] + P[1][2]*SK_BETA[6] + P[1][6]*SK_BETA[3] - P[1][3]*SK_BETA[7] + P[1][22]*SK_BETA[1] - P[1][23]*SK_BETA[2]);
|
|
Kfusion[2] = SK_BETA[0]*(P[2][0]*SK_BETA[5] + P[2][1]*SK_BETA[4] - P[2][4]*SK_BETA[1] + P[2][5]*SK_BETA[2] + P[2][2]*SK_BETA[6] + P[2][6]*SK_BETA[3] - P[2][3]*SK_BETA[7] + P[2][22]*SK_BETA[1] - P[2][23]*SK_BETA[2]);
|
|
Kfusion[3] = SK_BETA[0]*(P[3][0]*SK_BETA[5] + P[3][1]*SK_BETA[4] - P[3][4]*SK_BETA[1] + P[3][5]*SK_BETA[2] + P[3][2]*SK_BETA[6] + P[3][6]*SK_BETA[3] - P[3][3]*SK_BETA[7] + P[3][22]*SK_BETA[1] - P[3][23]*SK_BETA[2]);
|
|
Kfusion[4] = SK_BETA[0]*(P[4][0]*SK_BETA[5] + P[4][1]*SK_BETA[4] - P[4][4]*SK_BETA[1] + P[4][5]*SK_BETA[2] + P[4][2]*SK_BETA[6] + P[4][6]*SK_BETA[3] - P[4][3]*SK_BETA[7] + P[4][22]*SK_BETA[1] - P[4][23]*SK_BETA[2]);
|
|
Kfusion[5] = SK_BETA[0]*(P[5][0]*SK_BETA[5] + P[5][1]*SK_BETA[4] - P[5][4]*SK_BETA[1] + P[5][5]*SK_BETA[2] + P[5][2]*SK_BETA[6] + P[5][6]*SK_BETA[3] - P[5][3]*SK_BETA[7] + P[5][22]*SK_BETA[1] - P[5][23]*SK_BETA[2]);
|
|
Kfusion[6] = SK_BETA[0]*(P[6][0]*SK_BETA[5] + P[6][1]*SK_BETA[4] - P[6][4]*SK_BETA[1] + P[6][5]*SK_BETA[2] + P[6][2]*SK_BETA[6] + P[6][6]*SK_BETA[3] - P[6][3]*SK_BETA[7] + P[6][22]*SK_BETA[1] - P[6][23]*SK_BETA[2]);
|
|
Kfusion[7] = SK_BETA[0]*(P[7][0]*SK_BETA[5] + P[7][1]*SK_BETA[4] - P[7][4]*SK_BETA[1] + P[7][5]*SK_BETA[2] + P[7][2]*SK_BETA[6] + P[7][6]*SK_BETA[3] - P[7][3]*SK_BETA[7] + P[7][22]*SK_BETA[1] - P[7][23]*SK_BETA[2]);
|
|
Kfusion[8] = SK_BETA[0]*(P[8][0]*SK_BETA[5] + P[8][1]*SK_BETA[4] - P[8][4]*SK_BETA[1] + P[8][5]*SK_BETA[2] + P[8][2]*SK_BETA[6] + P[8][6]*SK_BETA[3] - P[8][3]*SK_BETA[7] + P[8][22]*SK_BETA[1] - P[8][23]*SK_BETA[2]);
|
|
Kfusion[9] = SK_BETA[0]*(P[9][0]*SK_BETA[5] + P[9][1]*SK_BETA[4] - P[9][4]*SK_BETA[1] + P[9][5]*SK_BETA[2] + P[9][2]*SK_BETA[6] + P[9][6]*SK_BETA[3] - P[9][3]*SK_BETA[7] + P[9][22]*SK_BETA[1] - P[9][23]*SK_BETA[2]);
|
|
Kfusion[10] = SK_BETA[0]*(P[10][0]*SK_BETA[5] + P[10][1]*SK_BETA[4] - P[10][4]*SK_BETA[1] + P[10][5]*SK_BETA[2] + P[10][2]*SK_BETA[6] + P[10][6]*SK_BETA[3] - P[10][3]*SK_BETA[7] + P[10][22]*SK_BETA[1] - P[10][23]*SK_BETA[2]);
|
|
Kfusion[11] = SK_BETA[0]*(P[11][0]*SK_BETA[5] + P[11][1]*SK_BETA[4] - P[11][4]*SK_BETA[1] + P[11][5]*SK_BETA[2] + P[11][2]*SK_BETA[6] + P[11][6]*SK_BETA[3] - P[11][3]*SK_BETA[7] + P[11][22]*SK_BETA[1] - P[11][23]*SK_BETA[2]);
|
|
Kfusion[12] = SK_BETA[0]*(P[12][0]*SK_BETA[5] + P[12][1]*SK_BETA[4] - P[12][4]*SK_BETA[1] + P[12][5]*SK_BETA[2] + P[12][2]*SK_BETA[6] + P[12][6]*SK_BETA[3] - P[12][3]*SK_BETA[7] + P[12][22]*SK_BETA[1] - P[12][23]*SK_BETA[2]);
|
|
Kfusion[13] = SK_BETA[0]*(P[13][0]*SK_BETA[5] + P[13][1]*SK_BETA[4] - P[13][4]*SK_BETA[1] + P[13][5]*SK_BETA[2] + P[13][2]*SK_BETA[6] + P[13][6]*SK_BETA[3] - P[13][3]*SK_BETA[7] + P[13][22]*SK_BETA[1] - P[13][23]*SK_BETA[2]);
|
|
Kfusion[14] = SK_BETA[0]*(P[14][0]*SK_BETA[5] + P[14][1]*SK_BETA[4] - P[14][4]*SK_BETA[1] + P[14][5]*SK_BETA[2] + P[14][2]*SK_BETA[6] + P[14][6]*SK_BETA[3] - P[14][3]*SK_BETA[7] + P[14][22]*SK_BETA[1] - P[14][23]*SK_BETA[2]);
|
|
Kfusion[15] = SK_BETA[0]*(P[15][0]*SK_BETA[5] + P[15][1]*SK_BETA[4] - P[15][4]*SK_BETA[1] + P[15][5]*SK_BETA[2] + P[15][2]*SK_BETA[6] + P[15][6]*SK_BETA[3] - P[15][3]*SK_BETA[7] + P[15][22]*SK_BETA[1] - P[15][23]*SK_BETA[2]);
|
|
|
|
// Only update the magnetometer states if we are airborne and using 3D mag fusion
|
|
if (_control_status.flags.mag_3D && _control_status.flags.in_air) {
|
|
Kfusion[16] = SK_BETA[0]*(P[16][0]*SK_BETA[5] + P[16][1]*SK_BETA[4] - P[16][4]*SK_BETA[1] + P[16][5]*SK_BETA[2] + P[16][2]*SK_BETA[6] + P[16][6]*SK_BETA[3] - P[16][3]*SK_BETA[7] + P[16][22]*SK_BETA[1] - P[16][23]*SK_BETA[2]);
|
|
Kfusion[17] = SK_BETA[0]*(P[17][0]*SK_BETA[5] + P[17][1]*SK_BETA[4] - P[17][4]*SK_BETA[1] + P[17][5]*SK_BETA[2] + P[17][2]*SK_BETA[6] + P[17][6]*SK_BETA[3] - P[17][3]*SK_BETA[7] + P[17][22]*SK_BETA[1] - P[17][23]*SK_BETA[2]);
|
|
Kfusion[18] = SK_BETA[0]*(P[18][0]*SK_BETA[5] + P[18][1]*SK_BETA[4] - P[18][4]*SK_BETA[1] + P[18][5]*SK_BETA[2] + P[18][2]*SK_BETA[6] + P[18][6]*SK_BETA[3] - P[18][3]*SK_BETA[7] + P[18][22]*SK_BETA[1] - P[18][23]*SK_BETA[2]);
|
|
Kfusion[19] = SK_BETA[0]*(P[19][0]*SK_BETA[5] + P[19][1]*SK_BETA[4] - P[19][4]*SK_BETA[1] + P[19][5]*SK_BETA[2] + P[19][2]*SK_BETA[6] + P[19][6]*SK_BETA[3] - P[19][3]*SK_BETA[7] + P[19][22]*SK_BETA[1] - P[19][23]*SK_BETA[2]);
|
|
Kfusion[20] = SK_BETA[0]*(P[20][0]*SK_BETA[5] + P[20][1]*SK_BETA[4] - P[20][4]*SK_BETA[1] + P[20][5]*SK_BETA[2] + P[20][2]*SK_BETA[6] + P[20][6]*SK_BETA[3] - P[20][3]*SK_BETA[7] + P[20][22]*SK_BETA[1] - P[20][23]*SK_BETA[2]);
|
|
Kfusion[21] = SK_BETA[0]*(P[21][0]*SK_BETA[5] + P[21][1]*SK_BETA[4] - P[21][4]*SK_BETA[1] + P[21][5]*SK_BETA[2] + P[21][2]*SK_BETA[6] + P[21][6]*SK_BETA[3] - P[21][3]*SK_BETA[7] + P[21][22]*SK_BETA[1] - P[21][23]*SK_BETA[2]);
|
|
|
|
} else {
|
|
for (int i = 16; i <= 21; i++) {
|
|
Kfusion[i] = 0.0f;
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
Kfusion[22] = SK_BETA[0]*(P[22][0]*SK_BETA[5] + P[22][1]*SK_BETA[4] - P[22][4]*SK_BETA[1] + P[22][5]*SK_BETA[2] + P[22][2]*SK_BETA[6] + P[22][6]*SK_BETA[3] - P[22][3]*SK_BETA[7] + P[22][22]*SK_BETA[1] - P[22][23]*SK_BETA[2]);
|
|
Kfusion[23] = SK_BETA[0]*(P[23][0]*SK_BETA[5] + P[23][1]*SK_BETA[4] - P[23][4]*SK_BETA[1] + P[23][5]*SK_BETA[2] + P[23][2]*SK_BETA[6] + P[23][6]*SK_BETA[3] - P[23][3]*SK_BETA[7] + P[23][22]*SK_BETA[1] - P[23][23]*SK_BETA[2]);
|
|
|
|
// Calculate predicted sideslip angle and innovation using small angle approximation
|
|
_beta_innov = rel_wind(1) / rel_wind(0);
|
|
|
|
// Compute the ratio of innovation to gate size
|
|
_beta_test_ratio = sq(_beta_innov) / (sq(fmaxf(_params.beta_innov_gate, 1.0f)) * _beta_innov_var);
|
|
|
|
// if the innovation consistency check fails then don't fuse the sample and indicate bad beta health
|
|
if (_beta_test_ratio > 1.0f) {
|
|
_innov_check_fail_status.flags.reject_sideslip = true;
|
|
return;
|
|
|
|
} else {
|
|
_innov_check_fail_status.flags.reject_sideslip = false;
|
|
}
|
|
|
|
// synthetic sideslip measurement sample has passed check so record it
|
|
_time_last_beta_fuse = _time_last_imu;
|
|
|
|
// apply covariance correction via P_new = (I -K*H)*P
|
|
// first calculate expression for KHP
|
|
// then calculate P - KHP
|
|
float KHP[_k_num_states][_k_num_states];
|
|
float KH[9];
|
|
|
|
for (unsigned row = 0; row < _k_num_states; row++) {
|
|
KH[0] = Kfusion[row] * H_BETA[0];
|
|
KH[1] = Kfusion[row] * H_BETA[1];
|
|
KH[2] = Kfusion[row] * H_BETA[2];
|
|
KH[3] = Kfusion[row] * H_BETA[3];
|
|
KH[4] = Kfusion[row] * H_BETA[4];
|
|
KH[5] = Kfusion[row] * H_BETA[5];
|
|
KH[6] = Kfusion[row] * H_BETA[6];
|
|
KH[7] = Kfusion[row] * H_BETA[22];
|
|
KH[8] = Kfusion[row] * H_BETA[23];
|
|
|
|
for (unsigned column = 0; column < _k_num_states; column++) {
|
|
float tmp = KH[0] * P[0][column];
|
|
tmp += KH[1] * P[1][column];
|
|
tmp += KH[2] * P[2][column];
|
|
tmp += KH[3] * P[3][column];
|
|
tmp += KH[4] * P[4][column];
|
|
tmp += KH[5] * P[5][column];
|
|
tmp += KH[6] * P[6][column];
|
|
tmp += KH[7] * P[22][column];
|
|
tmp += KH[8] * P[23][column];
|
|
KHP[row][column] = tmp;
|
|
}
|
|
}
|
|
|
|
// if the covariance correction will result in a negative variance, then
|
|
// the covariance matrix is unhealthy and must be corrected
|
|
bool healthy = true;
|
|
_fault_status.flags.bad_sideslip = false;
|
|
|
|
for (int i = 0; i < _k_num_states; i++) {
|
|
if (P[i][i] < KHP[i][i]) {
|
|
// zero rows and columns
|
|
zeroRows(P, i, i);
|
|
zeroCols(P, i, i);
|
|
|
|
//flag as unhealthy
|
|
healthy = false;
|
|
|
|
// update individual measurement health status
|
|
_fault_status.flags.bad_sideslip = true;
|
|
}
|
|
}
|
|
|
|
// only apply covariance and state corrections if healthy
|
|
if (healthy) {
|
|
// apply the covariance corrections
|
|
for (unsigned row = 0; row < _k_num_states; row++) {
|
|
for (unsigned column = 0; column < _k_num_states; column++) {
|
|
P[row][column] = P[row][column] - KHP[row][column];
|
|
}
|
|
}
|
|
|
|
// correct the covariance matrix for gross errors
|
|
fixCovarianceErrors();
|
|
|
|
// apply the state corrections
|
|
fuse(Kfusion, _beta_innov);
|
|
}
|
|
}
|
|
}
|