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bresch
54e93c9bc6
Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the varicances are still large enough.
284 lines
9.2 KiB
C++
284 lines
9.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 ECL Development Team. 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <math.h>
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#include <memory>
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#include "EKF/ekf.h"
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#include "sensor_simulator/sensor_simulator.h"
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#include "sensor_simulator/ekf_wrapper.h"
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class EkfInitializationTest : public ::testing::Test
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{
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public:
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EkfInitializationTest(): ::testing::Test(),
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_ekf{std::make_shared<Ekf>()},
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_sensor_simulator(_ekf),
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_ekf_wrapper(_ekf) {};
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std::shared_ptr<Ekf> _ekf;
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SensorSimulator _sensor_simulator;
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EkfWrapper _ekf_wrapper;
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const float _init_tilt_period = 0.3f; // seconds
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// GTests is calling this
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void SetUp() override
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{
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_ekf->init(0);
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}
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// Use this method to clean up any memory, network etc. after each test
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void TearDown() override
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{
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}
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void initializedOrienationIsMatchingGroundTruth(Quatf true_quaternion)
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{
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const Quatf quat_est = _ekf->getQuaternion();
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const float precision = 0.0002f; // TODO: this is only required for the pitch90 test to pass
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EXPECT_TRUE(matrix::isEqual(quat_est, true_quaternion, precision))
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<< "quat est = " << quat_est(0) << ", " << quat_est(1) << ", "
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<< quat_est(2) << ", " << quat_est(3)
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<< "\nquat true = " << true_quaternion(0) << ", " << true_quaternion(1) << ", "
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<< true_quaternion(2) << ", " << true_quaternion(3);
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}
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void validStateAfterOrientationInitialization()
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{
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quaternionVarianceBigEnoughAfterOrientationInitialization();
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velocityAndPositionCloseToZero();
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velocityAndPositionVarianceBigEnoughAfterOrientationInitialization();
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}
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void quaternionVarianceBigEnoughAfterOrientationInitialization()
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{
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const matrix::Vector<float, 4> quat_variance = _ekf_wrapper.getQuaternionVariance();
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const float quat_variance_limit = 0.0001f;
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EXPECT_TRUE(quat_variance(1) > quat_variance_limit) << "quat_variance(1)" << quat_variance(1);
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EXPECT_TRUE(quat_variance(2) > quat_variance_limit) << "quat_variance(2)" << quat_variance(2);
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EXPECT_TRUE(quat_variance(3) > quat_variance_limit) << "quat_variance(3)" << quat_variance(3);
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}
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void velocityAndPositionCloseToZero()
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{
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const Vector3f pos = _ekf->getPosition();
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const Vector3f vel = _ekf->getVelocity();
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EXPECT_TRUE(matrix::isEqual(pos, Vector3f{}, 0.002f))
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<< "pos = " << pos(0) << ", " << pos(1) << ", " << pos(2);
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EXPECT_TRUE(matrix::isEqual(vel, Vector3f{}, 0.003f))
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<< "vel = " << vel(0) << ", " << vel(1) << ", " << vel(2);
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}
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void velocityAndPositionVarianceBigEnoughAfterOrientationInitialization()
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{
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const Vector3f pos_var = _ekf->getPositionVariance();
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const Vector3f vel_var = _ekf->getVelocityVariance();
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const float pos_variance_limit = 0.1f;
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EXPECT_TRUE(pos_var(0) > pos_variance_limit) << "pos_var(0)" << pos_var(0);
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EXPECT_TRUE(pos_var(1) > pos_variance_limit) << "pos_var(1)" << pos_var(1);
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EXPECT_TRUE(pos_var(2) > pos_variance_limit) << "pos_var(2)" << pos_var(2);
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const float vel_variance_limit = 0.3f;
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EXPECT_TRUE(vel_var(0) > vel_variance_limit) << "vel_var(0)" << vel_var(0);
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EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1)" << vel_var(1);
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EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2)" << vel_var(2);
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}
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void learningCorrectAccelBias()
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{
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const Dcmf R_to_earth = Dcmf(_ekf->getQuaternion());
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const Vector3f dvel_bias_var = _ekf_wrapper.getDeltaVelBiasVariance();
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const Vector3f accel_bias = _ekf->getAccelBias();
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for (int i = 0; i < 3; i++) {
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if (fabsf(R_to_earth(2, i)) > 0.8f) {
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// Highly observable, the variance decreases
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EXPECT_LT(dvel_bias_var(i), 4.0e-6f) << "axis " << i;
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}
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EXPECT_LT(accel_bias(i), 4.0e-6f) << "axis " << i;
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}
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}
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};
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TEST_F(EkfInitializationTest, initializeWithZeroTilt)
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{
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const float pitch = math::radians(0.0f);
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const float roll = math::radians(0.0f);
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const Eulerf euler_angles_sim(roll, pitch, 0.0f);
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const Quatf quat_sim(euler_angles_sim);
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_sensor_simulator.simulateOrientation(quat_sim);
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_sensor_simulator.runSeconds(_init_tilt_period);
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initializedOrienationIsMatchingGroundTruth(quat_sim);
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validStateAfterOrientationInitialization();
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_sensor_simulator.runSeconds(1.f);
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learningCorrectAccelBias();
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}
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TEST_F(EkfInitializationTest, gyroBias)
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{
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// GIVEN: a healthy filter
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_sensor_simulator.runSeconds(20);
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// WHEN: there is a yaw gyro bias after initial convergence of the filter
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_sensor_simulator._imu.setGyroData(Vector3f(0.f, 0.f, 0.1f));
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// THEN: the vertical accel bias should not be affected
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Vector3f accel_bias;
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for (int ii = 0; ii < 100; ii++) {
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_sensor_simulator.runSeconds(0.5);
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accel_bias = _ekf->getAccelBias();
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if (fabsf(accel_bias(2)) > 0.3f) {
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// Print state covariance and correlation matrices for debugging
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const matrix::SquareMatrix<float, 24> P = _ekf->covariances();
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printf("State covariance:\n");
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for (int i = 0; i <= 15; i++) {
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for (int j = 0; j <= 15; j++) {
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printf("%.3fe-9 ", ((double)P(i, j)) * 1e9);
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}
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printf("\n");
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}
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printf("State correlation:\n");
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printf("\t0\t1\t2\t3\t4\t5\t6\t7\t8\t9\t10\t11\t12\t13\t14\t15\n");
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for (uint8_t i = 0; i <= 15; i++) {
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printf("%d| ", i);
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for (uint8_t j = 0; j <= 15; j++) {
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float corr = sqrtf(fabsf(P(i, i) * P(j, j)));
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if (corr > 0.0f) {
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corr = fabsf(P(i, j)) / corr;
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}
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printf("%.3f\t", (double)corr);
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}
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printf("\n");
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}
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printf("Accel bias = (%f, %f, %f)\n", (double)accel_bias(0), (double)accel_bias(1), (double)accel_bias(2));
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Vector3f gyro_bias = _ekf->getGyroBias();
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printf("Gyro bias = (%f, %f, %f)\n", (double)gyro_bias(0), (double)gyro_bias(1), (double)gyro_bias(2));
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EXPECT_TRUE(false);
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break;
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}
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}
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}
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TEST_F(EkfInitializationTest, initializeHeadingWithZeroTilt)
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{
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const float pitch = math::radians(0.0f);
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const float roll = math::radians(0.0f);
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const float yaw = math::radians(90.0f);
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const Eulerf euler_angles_sim(roll, pitch, yaw);
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const Quatf quat_sim(euler_angles_sim);
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_sensor_simulator.simulateOrientation(quat_sim);
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_sensor_simulator.runSeconds(_init_tilt_period);
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initializedOrienationIsMatchingGroundTruth(quat_sim);
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validStateAfterOrientationInitialization();
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_sensor_simulator.runSeconds(1.f);
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learningCorrectAccelBias();
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}
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TEST_F(EkfInitializationTest, initializeWithTilt)
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{
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const float pitch = math::radians(30.0f);
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const float roll = math::radians(60.0f);
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const Eulerf euler_angles_sim(roll, pitch, 0.0f);
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const Quatf quat_sim(euler_angles_sim);
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_sensor_simulator.simulateOrientation(quat_sim);
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_sensor_simulator.runSeconds(_init_tilt_period);
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initializedOrienationIsMatchingGroundTruth(quat_sim);
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validStateAfterOrientationInitialization();
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_sensor_simulator.runSeconds(1.f);
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learningCorrectAccelBias();
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}
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TEST_F(EkfInitializationTest, initializeWithPitch90)
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{
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const float pitch = math::radians(90.0f);
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const float roll = math::radians(0.0f);
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const Eulerf euler_angles_sim(roll, pitch, 0.0f);
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const Quatf quat_sim(euler_angles_sim);
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_sensor_simulator.simulateOrientation(quat_sim);
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_sensor_simulator.runSeconds(_init_tilt_period);
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initializedOrienationIsMatchingGroundTruth(quat_sim);
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// TODO: Quaternion Variance is smaller and vel x is larger
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// in this case than in the other cases
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validStateAfterOrientationInitialization();
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_sensor_simulator.runSeconds(1.f);
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learningCorrectAccelBias();
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}
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TEST_F(EkfInitializationTest, initializeWithRoll90)
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{
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const float pitch = math::radians(0.0f);
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const float roll = math::radians(90.0f);
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const Eulerf euler_angles_sim(roll, pitch, 0.0f);
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const Quatf quat_sim(euler_angles_sim);
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_sensor_simulator.simulateOrientation(quat_sim);
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_sensor_simulator.runSeconds(_init_tilt_period);
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initializedOrienationIsMatchingGroundTruth(quat_sim);
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validStateAfterOrientationInitialization();
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_sensor_simulator.runSeconds(1.f);
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learningCorrectAccelBias();
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}
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