From b1727055f963cb5642fb9ff86d0a8e50ee265d00 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 18 Jan 2023 14:34:20 -0500 Subject: [PATCH] ekf2: cleanup output predictor init - output predictor align also init _output_vert_new - output predictor reset handle all fields - output predictor resetQuaternion() normalize - output predictor calculateOutputStates() paranoid timestamp check - output predictor correctOutputStates() paranoid timestamp checks and explicitly pop delayed sample at correct time --- src/modules/ekf2/EKF/ekf.cpp | 35 +- src/modules/ekf2/EKF/ekf.h | 2 +- src/modules/ekf2/EKF/ekf_helper.cpp | 28 +- src/modules/ekf2/EKF/output_predictor.cpp | 528 +++++++++++----- src/modules/ekf2/EKF/output_predictor.h | 65 +- src/modules/ekf2/EKF2.cpp | 29 +- .../test/change_indication/ekf_gsf_reset.csv | 590 +++++++++--------- .../ekf2/test/change_indication/iris_gps.csv | 540 ++++++++-------- 8 files changed, 1000 insertions(+), 817 deletions(-) diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index 7010626d89ae..2d172ae67002 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -91,6 +91,8 @@ void Ekf::reset() _output_predictor.reset(); // Ekf private fields + _filter_initialised = false; + _time_last_horizontal_aiding = 0; _time_last_v_pos_aiding = 0; _time_last_v_vel_aiding = 0; @@ -161,11 +163,11 @@ void Ekf::reset() bool Ekf::update() { - if (!_filter_initialised) { - _filter_initialised = initialiseFilter(); + bool updated = false; - if (!_filter_initialised) { - return false; + if (!_filter_initialised) { + if (initialiseFilter()) { + _filter_initialised = true; } } @@ -177,24 +179,26 @@ bool Ekf::update() // TODO: explicitly pop at desired time horizon const imuSample imu_sample_delayed = _imu_buffer.get_oldest(); - // perform state and covariance prediction for the main filter - predictCovariance(imu_sample_delayed); - predictState(imu_sample_delayed); + if (_filter_initialised) { + // perform state and covariance prediction for the main filter + predictCovariance(imu_sample_delayed); + predictState(imu_sample_delayed); - // control fusion of observation data - controlFusionModes(imu_sample_delayed); + // control fusion of observation data + controlFusionModes(imu_sample_delayed); #if defined(CONFIG_EKF2_RANGE_FINDER) - // run a separate filter for terrain estimation - runTerrainEstimator(imu_sample_delayed); + // run a separate filter for terrain estimation + runTerrainEstimator(imu_sample_delayed); #endif // CONFIG_EKF2_RANGE_FINDER - _output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, _state.gyro_bias, _state.accel_bias); + updated = true; + } - return true; + _output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, _state.gyro_bias, _state.accel_bias); } - return false; + return updated; } bool Ekf::initialiseFilter() @@ -229,9 +233,6 @@ bool Ekf::initialiseFilter() initHagl(); #endif // CONFIG_EKF2_RANGE_FINDER - // reset the output predictor state history to match the EKF initial values - _output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos); - return true; } diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index cb47f0c2057e..8498b6baa470 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -809,7 +809,7 @@ class Ekf final : public EstimatorInterface // fuse single velocity and position measurement bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index); - void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var); + void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var = Vector3f(NAN, NAN, NAN)); void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var); void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, float vel_var) { resetHorizontalVelocityTo(new_horz_vel, Vector2f(vel_var, vel_var)); } diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 0e7a00746517..9b82183c9dc8 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -73,7 +73,7 @@ void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f P.uncorrelateCovarianceSetVariance<1>(5, math::max(sq(0.01f), new_horz_vel_var(1))); } - _output_predictor.resetHorizontalVelocityTo(delta_horz_vel); + _output_predictor.resetHorizontalVelocityTo(_time_delayed_us, new_horz_vel); // record the state change if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) { @@ -99,7 +99,7 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var) P.uncorrelateCovarianceSetVariance<1>(6, math::max(sq(0.01f), new_vert_vel_var)); } - _output_predictor.resetVerticalVelocityTo(delta_vert_vel); + _output_predictor.resetVerticalVelocityTo(_time_delayed_us, new_vert_vel); // record the state change if (_state_reset_status.reset_count.velD == _state_reset_count_prev.velD) { @@ -139,7 +139,7 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f P.uncorrelateCovarianceSetVariance<1>(8, math::max(sq(0.01f), new_horz_pos_var(1))); } - _output_predictor.resetHorizontalPositionTo(delta_horz_pos); + _output_predictor.resetHorizontalPositionTo(_time_delayed_us, new_horz_pos); // record the state change if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) { @@ -174,7 +174,7 @@ bool Ekf::isHeightResetRequired() const void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var) { - const float old_vert_pos = _state.pos(2); + const float delta_z = new_vert_pos - _state.pos(2); _state.pos(2) = new_vert_pos; if (PX4_ISFINITE(new_vert_pos_var)) { @@ -182,11 +182,9 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v P.uncorrelateCovarianceSetVariance<1>(9, math::max(sq(0.01f), new_vert_pos_var)); } - const float delta_z = new_vert_pos - old_vert_pos; - // apply the change in height / height rate to our newest height / height rate estimate // which have already been taken out from the output buffer - _output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z); + _output_predictor.resetVerticalPositionTo(_time_delayed_us, new_vert_pos); // record the state change if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) { @@ -1069,7 +1067,7 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance) } // add the reset amount to the output observer buffered data - _output_predictor.resetQuaternion(q_error); + _output_predictor.resetQuaternion(_time_delayed_us, quat_after_reset); #if defined(CONFIG_EKF2_EXTERNAL_VISION) // update EV attitude error filter @@ -1092,6 +1090,20 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance) _state_reset_status.reset_count.quat++; _time_last_heading_fuse = _time_delayed_us; + + + // apply change to velocity state + const Vector3f new_vel = q_error.rotateVector(_state.vel); + const Vector3f delta_vel = new_vel - _state.vel; + _state.vel = new_vel; + + if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) { + _state_reset_status.velNE_change = delta_vel.xy(); + + } else { + // there's already a reset this update, accumulate total delta + _state_reset_status.velNE_change += delta_vel.xy(); + } } bool Ekf::resetYawToEKFGSF() diff --git a/src/modules/ekf2/EKF/output_predictor.cpp b/src/modules/ekf2/EKF/output_predictor.cpp index 123ec83fa922..839b00e64d9b 100644 --- a/src/modules/ekf2/EKF/output_predictor.cpp +++ b/src/modules/ekf2/EKF/output_predictor.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4. All rights reserved. + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -48,39 +48,11 @@ void OutputPredictor::print_status() printf("output buffer: %d/%d (%d Bytes)\n", _output_buffer.entries(), _output_buffer.get_length(), _output_buffer.get_total_size()); - - printf("output vert buffer: %d/%d (%d Bytes)\n", _output_vert_buffer.entries(), _output_vert_buffer.get_length(), - _output_vert_buffer.get_total_size()); -} - -void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state) -{ - const outputSample &output_delayed = _output_buffer.get_oldest(); - - // calculate the quaternion rotation delta from the EKF to output observer states at the EKF fusion time horizon - Quatf q_delta{quat_state * output_delayed.quat_nominal.inversed()}; - q_delta.normalize(); - - // calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon - const Vector3f vel_delta = vel_state - output_delayed.vel; - const Vector3f pos_delta = pos_state - output_delayed.pos; - - // loop through the output filter state history and add the deltas - for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { - _output_buffer[i].quat_nominal = q_delta * _output_buffer[i].quat_nominal; - _output_buffer[i].quat_nominal.normalize(); - _output_buffer[i].vel += vel_delta; - _output_buffer[i].pos += pos_delta; - } - - _output_new = _output_buffer.get_newest(); } void OutputPredictor::reset() { - // TODO: who resets the output buffer content? - _output_new = {}; - _output_vert_new = {}; + _output_buffer.reset(); _accel_bias.setZero(); _gyro_bias.setZero(); @@ -88,86 +60,182 @@ void OutputPredictor::reset() _time_last_update_states_us = 0; _time_last_correct_states_us = 0; + _output_new = {}; _R_to_earth_now.setIdentity(); - _vel_imu_rel_body_ned.setZero(); - _vel_deriv.setZero(); + _vel_imu_rel_body_ned.zero(); + _vel_deriv.zero(); - _delta_angle_corr.setZero(); + _delta_angle_corr.zero(); + _vel_err_integ.zero(); + _pos_err_integ.zero(); - _vel_err_integ.setZero(); - _pos_err_integ.setZero(); + _output_tracking_error.zero(); - _output_tracking_error.setZero(); - - for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { - _output_buffer[index] = {}; - } - - for (uint8_t index = 0; index < _output_vert_buffer.get_length(); index++) { - _output_vert_buffer[index] = {}; - } + _output_filter_aligned = false; } -void OutputPredictor::resetQuaternion(const Quatf &quat_change) +void OutputPredictor::resetQuaternion(const uint64_t time_delayed_us, const Quatf &new_quat) { + const outputSample &output_delayed = _output_buffer.get_oldest(); + const Quatf quat_change{(new_quat * output_delayed.quat_nominal.inversed()).normalized()}; + const Dcmf rot_change{quat_change}; + // add the reset amount to the output observer buffered data for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { - _output_buffer[i].quat_nominal = quat_change * _output_buffer[i].quat_nominal; + _output_buffer[i].quat_nominal = (quat_change * _output_buffer[i].quat_nominal).normalized(); + + // apply change to velocity + _output_buffer[i].vel = rot_change * _output_buffer[i].vel; + _output_buffer[i].vel_alternative = rot_change * _output_buffer[i].vel_alternative; } // apply the change in attitude quaternion to our newest quaternion estimate - // which was already taken out from the output buffer - _output_new.quat_nominal = quat_change * _output_new.quat_nominal; + _output_new.quat_nominal = (quat_change * _output_new.quat_nominal).normalized(); + _R_to_earth_now = Dcmf(_output_new.quat_nominal); + + // apply change to velocity + _output_new.vel = rot_change * _output_new.vel; + _output_new.vel_alternative = rot_change * _output_new.vel_alternative; + + propagateVelocityUpdateToPosition(); } -void OutputPredictor::resetHorizontalVelocityTo(const Vector2f &delta_horz_vel) +void OutputPredictor::resetHorizontalVelocityTo(const uint64_t time_delayed_us, const Vector2f &new_horz_vel) { - for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { - _output_buffer[index].vel.xy() += delta_horz_vel; + // TODO: review time_us + + if (_output_buffer.get_oldest().time_us != time_delayed_us) { + + + + } - _output_new.vel.xy() += delta_horz_vel; + + const outputSample &output_delayed = _output_buffer.get_oldest(); + + // horizontal velocity + { + const Vector2f delta_vxy = new_horz_vel - Vector2f(output_delayed.vel.xy()); + + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + _output_buffer[index].vel.xy() += delta_vxy; + } + + _output_new.vel.xy() += delta_vxy; + } + + // horizontal velocity (alternative) + { + const Vector2f delta_vxy = new_horz_vel - Vector2f(output_delayed.vel_alternative.xy()); + + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + _output_buffer[index].vel_alternative.xy() += delta_vxy; + } + + _output_new.vel_alternative.xy() += delta_vxy; + } + + // propagate position forward using the reset velocity + propagateVelocityUpdateToPosition(); } -void OutputPredictor::resetVerticalVelocityTo(float delta_vert_vel) +void OutputPredictor::resetVerticalVelocityTo(const uint64_t time_delayed_us, const float new_vert_vel) { - for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { - _output_buffer[index].vel(2) += delta_vert_vel; - _output_vert_buffer[index].vert_vel += delta_vert_vel; + const outputSample &output_delayed = _output_buffer.get_oldest(); + + // vertical velocity + { + const float delta_z = new_vert_vel - output_delayed.vel(2); + + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + _output_buffer[index].vel(2) += delta_z; + } + + _output_new.vel(2) += delta_z; + } + + // vertical velocity (alternative) + { + const float delta_z = new_vert_vel - output_delayed.vel_alternative(2); + + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + _output_buffer[index].vel_alternative(2) += delta_z; + } + + _output_new.vel_alternative(2) += delta_z; } - _output_new.vel(2) += delta_vert_vel; - _output_vert_new.vert_vel += delta_vert_vel; + // propagate vertical position forward using the reset velocity + propagateVelocityUpdateToPosition(); } -void OutputPredictor::resetHorizontalPositionTo(const Vector2f &delta_horz_pos) +void OutputPredictor::resetHorizontalPositionTo(const uint64_t time_delayed_us, const Vector2f &new_horz_pos) { - for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { - _output_buffer[index].pos.xy() += delta_horz_pos; + const outputSample &output_delayed = _output_buffer.get_oldest(); + + // horizontal position + { + const Vector2f delta_xy = new_horz_pos - output_delayed.pos.xy(); + + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + _output_buffer[index].pos.xy() += delta_xy; + } + + _output_new.pos.xy() += delta_xy; } - _output_new.pos.xy() += delta_horz_pos; + // horizontal position (alternative) + { + const Vector2f delta_xy = new_horz_pos - output_delayed.vel_alternative_integ.xy(); + + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + _output_buffer[index].vel_alternative_integ.xy() += delta_xy; + } + + _output_new.vel_alternative_integ.xy() += delta_xy; + } } -void OutputPredictor::resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change) +void OutputPredictor::resetVerticalPositionTo(const uint64_t time_delayed_us, const float new_vert_pos) { - // apply the change in height / height rate to our newest height / height rate estimate - // which have already been taken out from the output buffer - _output_new.pos(2) += vert_pos_change; + const outputSample &output_delayed = _output_buffer.get_oldest(); - // add the reset amount to the output observer buffered data - for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { - _output_buffer[i].pos(2) += vert_pos_change; - _output_vert_buffer[i].vert_vel_integ += vert_pos_change; + // vertical position + { + const float delta_z = new_vert_pos - output_delayed.pos(2); + + // add the reset amount to the output observer buffered data + for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { + _output_buffer[i].pos(2) += delta_z; + } + + // apply the change in height / height rate to our newest height / height rate estimate + // which have already been taken out from the output buffer + _output_new.pos(2) += delta_z; } - // add the reset amount to the output observer vertical position state - _output_vert_new.vert_vel_integ = new_vert_pos; + // vertical position (alternative) + { + const float delta_z = new_vert_pos - output_delayed.vel_alternative_integ(2); + + // add the reset amount to the output observer buffered data + for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { + _output_buffer[i].vel_alternative_integ(2) += delta_z; + } + + // add the reset amount to the output observer vertical position state + _output_new.vel_alternative_integ(2) += delta_z; + } } -void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector3f &delta_angle, +bool OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector3f &delta_angle, const float delta_angle_dt, const Vector3f &delta_velocity, const float delta_velocity_dt) { + if (time_us <= _time_last_update_states_us) { + return false; + } + // Use full rate IMU data at the current time horizon if (_time_last_update_states_us != 0) { const float dt = math::constrain((time_us - _time_last_update_states_us) * 1e-6f, 0.0001f, 0.03f); @@ -185,18 +253,11 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector const Vector3f delta_velocity_corrected(delta_velocity - delta_vel_bias_scaled); _output_new.time_us = time_us; - _output_vert_new.time_us = time_us; - - const Quatf dq(AxisAnglef{delta_angle_corrected}); // rotate the previous INS quaternion by the delta quaternions - _output_new.quat_nominal = _output_new.quat_nominal * dq; - - // the quaternions must always be normalised after modification - _output_new.quat_nominal.normalize(); - - // calculate the rotation matrix from body to earth frame - _R_to_earth_now = Dcmf(_output_new.quat_nominal); + const Quatf dq(AxisAnglef{delta_angle_corrected}); + _output_new.quat_nominal = (_output_new.quat_nominal * dq).normalized(); + _R_to_earth_now = Dcmf(_output_new.quat_nominal); // calculate the rotation matrix from body to earth frame // rotate the delta velocity to earth frame Vector3f delta_vel_earth{_R_to_earth_now * delta_velocity_corrected}; @@ -215,16 +276,16 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector // increment the INS velocity states by the measurement plus corrections // do the same for vertical state used by alternative correction algorithm _output_new.vel += delta_vel_earth; - _output_vert_new.vert_vel += delta_vel_earth(2); + _output_new.vel_alternative += delta_vel_earth; // use trapezoidal integration to calculate the INS position states // do the same for vertical state used by alternative correction algorithm const Vector3f delta_pos_NED = (_output_new.vel + vel_last) * (delta_velocity_dt * 0.5f); _output_new.pos += delta_pos_NED; - _output_vert_new.vert_vel_integ += delta_pos_NED(2); + _output_new.vel_alternative_integ += delta_pos_NED; // accumulate the time for each update - _output_vert_new.dt += delta_velocity_dt; + _output_new.dt += delta_velocity_dt; // correct velocity for IMU offset if (delta_angle_dt > 0.001f) { @@ -237,137 +298,258 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector // rotate the relative velocity into earth frame _vel_imu_rel_body_ned = _R_to_earth_now * vel_imu_rel_body; } + + return true; } void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us, - const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias) + const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, + const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias) { - // calculate an average filter update time - if (_time_last_correct_states_us != 0) { - const float dt = math::constrain((time_delayed_us - _time_last_correct_states_us) * 1e-6f, 0.0001f, 0.03f); - _dt_correct_states_avg = 0.8f * _dt_correct_states_avg + 0.2f * dt; + const uint64_t time_latest_us = _time_last_update_states_us; + + if (time_latest_us <= time_delayed_us) { + return; } - _time_last_correct_states_us = time_delayed_us; + // store the INS states in a ring buffer with the same length and time coordinates as the IMU data buffer + if (_output_new.dt > 0.f) { + _output_buffer.push(_output_new); + _output_new.dt = 0.0f; // reset time delta to zero for the next accumulation of full rate IMU data + } // store IMU bias for calculateOutputStates _gyro_bias = gyro_bias; _accel_bias = accel_bias; - // store the INS states in a ring buffer with the same length and time coordinates as the IMU data buffer - _output_buffer.push(_output_new); - _output_vert_buffer.push(_output_vert_new); + // calculate an average filter update time + if ((_time_last_correct_states_us != 0) && (time_delayed_us > _time_last_correct_states_us)) { + const float dt = math::constrain((time_delayed_us - _time_last_correct_states_us) * 1e-6f, 0.0001f, 0.03f); + _dt_correct_states_avg = 0.8f * _dt_correct_states_avg + 0.2f * dt; + + } else { + if (!_output_filter_aligned) { + resetQuaternion(time_delayed_us, quat_state); + resetHorizontalVelocityTo(time_delayed_us, vel_state.xy()); + resetVerticalVelocityTo(time_delayed_us, vel_state(2)); + resetHorizontalPositionTo(time_delayed_us, pos_state.xy()); + resetVerticalPositionTo(time_delayed_us, pos_state(2)); + } + + _time_last_correct_states_us = time_delayed_us; + return; + } + + _time_last_correct_states_us = time_delayed_us; // get the oldest INS state data from the ring buffer // this data will be at the EKF fusion time horizon - // TODO: there is no guarantee that data is at delayed fusion horizon - // Shouldnt we use pop_first_older_than? - const outputSample &output_delayed = _output_buffer.get_oldest(); - const outputVert &output_vert_delayed = _output_vert_buffer.get_oldest(); + outputSample output_delayed; + + while (_output_buffer.pop_first_older_than(time_delayed_us, &output_delayed)) { - // calculate the quaternion delta between the INS and EKF quaternions at the EKF fusion time horizon - const Quatf q_error((quat_state.inversed() * output_delayed.quat_nominal).normalized()); + if (output_delayed.time_us != time_delayed_us) { + continue; + } - // convert the quaternion delta to a delta angle - const float scalar = (q_error(0) >= 0.0f) ? -2.f : 2.f; + if (!_output_filter_aligned) { - const Vector3f delta_ang_error{scalar * q_error(1), scalar * q_error(2), scalar * q_error(3)}; + // calculate the quaternion rotation delta from the EKF to output observer states at the EKF fusion time horizon + const Quatf q_delta((quat_state * output_delayed.quat_nominal.inversed()).normalized()); + const Dcmf rot_change{q_delta}; - // calculate a gain that provides tight tracking of the estimator attitude states and - // adjust for changes in time delay to maintain consistent damping ratio of ~0.7 - const uint64_t time_latest_us = _time_last_update_states_us; - const float time_delay = fmaxf((time_latest_us - time_delayed_us) * 1e-6f, _dt_update_states_avg); - const float att_gain = 0.5f * _dt_update_states_avg / time_delay; + // add the reset amount to the output observer buffered data + for (uint8_t i = 0; i < _output_buffer.get_length(); i++) { + + _output_buffer[i].quat_nominal = (q_delta * _output_buffer[i].quat_nominal).normalized(); + + // apply change to velocity + _output_buffer[i].vel = rot_change * _output_buffer[i].vel; + _output_buffer[i].vel_alternative = rot_change * _output_buffer[i].vel_alternative; + } - // calculate a corrrection to the delta angle - // that will cause the INS to track the EKF quaternions - _delta_angle_corr = delta_ang_error * att_gain; - _output_tracking_error(0) = delta_ang_error.norm(); + // apply the change in attitude quaternion to our newest quaternion estimate + _output_new.quat_nominal = (q_delta * _output_new.quat_nominal).normalized(); - /* - * Loop through the output filter state history and apply the corrections to the velocity and position states. - * This method is too expensive to use for the attitude states due to the quaternion operations required - * but because it eliminates the time delay in the 'correction loop' it allows higher tracking gains - * to be used and reduces tracking error relative to EKF states. - */ - // Complementary filter gains - const float vel_gain = _dt_correct_states_avg / math::constrain(_vel_tau, _dt_correct_states_avg, 10.f); - const float pos_gain = _dt_correct_states_avg / math::constrain(_pos_tau, _dt_correct_states_avg, 10.f); + // apply change to velocity + _output_new.vel = rot_change * _output_new.vel; + _output_new.vel_alternative = rot_change * _output_new.vel_alternative; - // calculate down velocity and position tracking errors - const float vert_vel_err = (vel_state(2) - output_vert_delayed.vert_vel); - const float vert_vel_integ_err = (pos_state(2) - output_vert_delayed.vert_vel_integ); + propagateVelocityUpdateToPosition(); - // calculate a velocity correction that will be applied to the output state history - // using a PD feedback tuned to a 5% overshoot - const float vert_vel_correction = vert_vel_integ_err * pos_gain + vert_vel_err * vel_gain * 1.1f; - applyCorrectionToVerticalOutputBuffer(vert_vel_correction); + // calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon + output_delayed.vel = q_delta.rotateVectorInverse(output_delayed.vel); + const Vector3f vel_err = vel_state - output_delayed.vel; - // calculate velocity and position tracking errors - const Vector3f vel_err(vel_state - output_delayed.vel); - const Vector3f pos_err(pos_state - output_delayed.pos); + output_delayed.vel_alternative = q_delta.rotateVectorInverse(output_delayed.vel_alternative); + const Vector3f vel_alternative_err = vel_state - output_delayed.vel_alternative; - _output_tracking_error(1) = vel_err.norm(); - _output_tracking_error(2) = pos_err.norm(); + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + // a constant velocity correction is applied + _output_buffer[index].vel += vel_err; + _output_buffer[index].vel_alternative += vel_alternative_err; + } - // calculate a velocity correction that will be applied to the output state history - _vel_err_integ += vel_err; - const Vector3f vel_correction = vel_err * vel_gain + _vel_err_integ * sq(vel_gain) * 0.1f; + // manually correct next oldest state + // position is propagated forward using the corrected velocity and a trapezoidal integrator + uint8_t index = _output_buffer.get_oldest_index(); + outputSample &next_oldest_state = _output_buffer[index]; - // calculate a position correction that will be applied to the output state history - _pos_err_integ += pos_err; - const Vector3f pos_correction = pos_err * pos_gain + _pos_err_integ * sq(pos_gain) * 0.1f; + if ((next_oldest_state.time_us > output_delayed.time_us) && (next_oldest_state.dt > 0.f)) { - applyCorrectionToOutputBuffer(vel_correction, pos_correction); + next_oldest_state.pos = pos_state + (vel_state + next_oldest_state.vel) * 0.5f * next_oldest_state.dt; + next_oldest_state.vel_alternative_integ = pos_state + (vel_state + next_oldest_state.vel_alternative) * 0.5f * + next_oldest_state.dt; + + propagateVelocityUpdateToPosition(); + } + + _output_new = _output_buffer.get_newest(); + _output_new.dt = 0.0f; + + // reset tracking error, integral, etc + _output_tracking_error.zero(); + _delta_angle_corr.zero(); + _vel_err_integ.zero(); + _pos_err_integ.zero(); + + _output_filter_aligned = true; + + } else { + + /* + * Loop through the output filter state history and apply the corrections to the velocity and position states. + * This method is too expensive to use for the attitude states due to the quaternion operations required + * but because it eliminates the time delay in the 'correction loop' it allows higher tracking gains + * to be used and reduces tracking error relative to EKF states. + */ + + // calculate the quaternion delta between the INS and EKF quaternions at the EKF fusion time horizon + const Quatf q_error((quat_state.inversed() * output_delayed.quat_nominal).normalized()); + + // convert the quaternion delta to a delta angle + const float scalar = (q_error(0) >= 0.0f) ? -2.f : 2.f; + + const Vector3f delta_ang_error{scalar * q_error(1), scalar * q_error(2), scalar * q_error(3)}; + + // calculate a gain that provides tight tracking of the estimator attitude states and + // adjust for changes in time delay to maintain consistent damping ratio of ~0.7 + + const float time_delay = fmaxf((time_latest_us - time_delayed_us) * 1e-6f, _dt_update_states_avg); + const float att_gain = 0.5f * _dt_update_states_avg / time_delay; + + // calculate a corrrection to the delta angle + // that will cause the INS to track the EKF quaternions + _delta_angle_corr = delta_ang_error * att_gain; + _output_tracking_error(0) = delta_ang_error.norm(); + + + /* + * Calculate corrections to be applied to vel and pos output state history. + * The vel and pos state history are corrected individually so they track the EKF states at + * the fusion time horizon. This option provides the most accurate tracking of EKF states. + */ + + // calculate velocity tracking errors + const Vector3f vel_err = vel_state - output_delayed.vel; + _output_tracking_error(1) = vel_err.norm(); + // calculate a velocity correction that will be applied to the output state history + const float vel_gain = _dt_correct_states_avg / math::constrain(_vel_tau, _dt_correct_states_avg, + 10.f); // Complementary filter gains + _vel_err_integ += vel_err; + const Vector3f vel_correction = vel_err * vel_gain + _vel_err_integ * sq(vel_gain) * 0.1f; + + // calculate position tracking errors + const Vector3f pos_err = pos_state - output_delayed.pos; + _output_tracking_error(2) = pos_err.norm(); + // calculate a position correction that will be applied to the output state history + const float pos_gain = _dt_correct_states_avg / math::constrain(_pos_tau, _dt_correct_states_avg, + 10.f); // Complementary filter gains + _pos_err_integ += pos_err; + const Vector3f pos_correction = pos_err * pos_gain + _pos_err_integ * sq(pos_gain) * 0.1f; + + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + // a constant velocity correction is applied + _output_buffer[index].vel += vel_correction; + _output_buffer[index].pos += pos_correction; + } + + + /* + * Calculate a correction to be applied to vel_alternative that casues vel_alternative_integ to track the EKF + * position state at the fusion time horizon using an alternative algorithm to what + * is used for the vel and pos state tracking. The algorithm applies a correction to the vel_alternative + * state history and propagates vel_alternative_integ forward in time using the corrected vel_alternative history. + * This provides an alternative velocity output that is closer to the first derivative + * of the position but does degrade tracking relative to the EKF state. + */ + + // vel alternative: calculate velocity and position tracking errors + const Vector3f vel_alternative_err = (vel_state - output_delayed.vel_alternative); + const Vector3f vel_alternative_integ_err = (pos_state - output_delayed.vel_alternative_integ); + + // calculate a velocity correction that will be applied to the output state history + // using a PD feedback tuned to a 5% overshoot + const Vector3f vel_alternative_correction = vel_alternative_integ_err * pos_gain + vel_alternative_err * vel_gain * + 1.1f; + + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { + // a constant velocity correction is applied + _output_buffer[index].vel_alternative += vel_alternative_correction; + _output_buffer[index].vel_alternative_integ += vel_alternative_integ_err; + } + + // recompute position by integrating velocity + propagateVelocityUpdateToPosition(); + } + } + + _output_new = _output_buffer.get_newest(); + _output_new.dt = 0.f; + + _R_to_earth_now = Dcmf(_output_new.quat_nominal); } -void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_correction) +void OutputPredictor::propagateVelocityUpdateToPosition() { - // loop through the vertical output filter state history starting at the oldest and apply the corrections to the - // vert_vel states and propagate vert_vel_integ forward using the corrected vert_vel - uint8_t index = _output_vert_buffer.get_oldest_index(); - - const uint8_t size = _output_vert_buffer.get_length(); + // propagate position forward using the reset velocity + uint8_t index = _output_buffer.get_oldest_index(); + const uint8_t size = _output_buffer.get_length(); for (uint8_t counter = 0; counter < (size - 1); counter++) { - const uint8_t index_next = (index + 1) % size; - outputVert ¤t_state = _output_vert_buffer[index]; - outputVert &next_state = _output_vert_buffer[index_next]; - // correct the velocity - if (counter == 0) { - current_state.vert_vel += vert_vel_correction; - } + const outputSample ¤t_state = _output_buffer[index]; - next_state.vert_vel += vert_vel_correction; + // next state + const uint8_t index_next = (index + 1) % size; + outputSample &next_state = _output_buffer[index_next]; - // position is propagated forward using the corrected velocity and a trapezoidal integrator - next_state.vert_vel_integ = current_state.vert_vel_integ + (current_state.vert_vel + next_state.vert_vel) * 0.5f * next_state.dt; + if ((next_state.time_us > current_state.time_us) && (next_state.dt > 0.f)) { + // position is propagated forward using the corrected velocity and a trapezoidal integrator + next_state.pos = current_state.pos + (current_state.vel + next_state.vel) * 0.5f * next_state.dt; + next_state.vel_alternative_integ = current_state.vel_alternative_integ + (current_state.vel_alternative + + next_state.vel_alternative) * 0.5f * next_state.dt; + } // advance the index index = (index + 1) % size; } - // update output state to corrected values - _output_vert_new = _output_vert_buffer.get_newest(); + if ((_output_new.time_us > _output_buffer.get_newest().time_us) && (_output_new.dt > 0.f)) { + // position is propagated forward using the corrected velocity and a trapezoidal integrator + _output_new.pos = _output_buffer.get_newest().pos + + (_output_buffer.get_newest().vel + _output_new.vel) * 0.5f * _output_new.dt; - // reset time delta to zero for the next accumulation of full rate IMU data - _output_vert_new.dt = 0.0f; -} + _output_new.vel_alternative_integ = _output_buffer.get_newest().vel_alternative_integ + + (_output_buffer.get_newest().vel_alternative + _output_new.vel_alternative) * 0.5f * _output_new.dt; -void OutputPredictor::applyCorrectionToOutputBuffer(const Vector3f &vel_correction, const Vector3f &pos_correction) -{ - // loop through the output filter state history and apply the corrections to the velocity and position states - for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { - // a constant velocity correction is applied - _output_buffer[index].vel += vel_correction; + } else { + // update output state to corrected values + _output_new = _output_buffer.get_newest(); - // a constant position correction is applied - _output_buffer[index].pos += pos_correction; + // reset time delta to zero for the next accumulation of full rate IMU data + _output_new.dt = 0.0f; } - - // update output state to corrected values - _output_new = _output_buffer.get_newest(); } diff --git a/src/modules/ekf2/EKF/output_predictor.h b/src/modules/ekf2/EKF/output_predictor.h index 4acded9c3463..477e6716f20c 100644 --- a/src/modules/ekf2/EKF/output_predictor.h +++ b/src/modules/ekf2/EKF/output_predictor.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2022 PX4. All rights reserved. + * Copyright (c) 2022-2023 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -51,9 +51,6 @@ class OutputPredictor ~OutputPredictor() = default; - // modify output filter to match the the EKF state at the fusion time horizon - void alignOutputFilter(const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, - const matrix::Vector3f &pos_state); /* * Implement a strapdown INS algorithm using the latest IMU data at the current time horizon. * Buffer the INS states and calculate the difference with the EKF states at the delayed fusion time horizon. @@ -64,25 +61,26 @@ class OutputPredictor * “Recursive Attitude Estimation in the Presence of Multi-rate and Multi-delay Vector Measurements” * A Khosravian, J Trumpf, R Mahony, T Hamel, Australian National University */ - void calculateOutputStates(const uint64_t time_us, const matrix::Vector3f &delta_angle, const float delta_angle_dt, + bool calculateOutputStates(const uint64_t time_us, const matrix::Vector3f &delta_angle, const float delta_angle_dt, const matrix::Vector3f &delta_velocity, const float delta_velocity_dt); void correctOutputStates(const uint64_t time_delayed_us, - const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias); + const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state, + const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias); - void resetQuaternion(const matrix::Quatf &quat_change); + void resetQuaternion(const uint64_t time_delayed_us, const matrix::Quatf &new_quat); - void resetHorizontalVelocityTo(const matrix::Vector2f &delta_horz_vel); - void resetVerticalVelocityTo(float delta_vert_vel); + void resetHorizontalVelocityTo(const uint64_t time_delayed_us, const matrix::Vector2f &new_horz_vel); + void resetVerticalVelocityTo(const uint64_t time_delayed_us, const float new_vert_vel); - void resetHorizontalPositionTo(const matrix::Vector2f &delta_horz_pos); - void resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change); + void resetHorizontalPositionTo(const uint64_t time_delayed_us, const matrix::Vector2f &new_horz_pos); + void resetVerticalPositionTo(const uint64_t time_delayed_us, const float new_vert_pos); void print_status(); bool allocate(uint8_t size) { - if (_output_buffer.allocate(size) && _output_vert_buffer.allocate(size)) { + if (_output_buffer.allocate(size)) { reset(); return true; } @@ -101,7 +99,7 @@ class OutputPredictor const matrix::Vector3f &getVelocityDerivative() const { return _vel_deriv; } // get the derivative of the vertical position of the body frame origin in local NED earth frame - float getVerticalPositionDerivative() const { return _output_vert_new.vert_vel - _vel_imu_rel_body_ned(2); } + float getVerticalPositionDerivative() const { return _output_new.vel_alternative(2) - _vel_imu_rel_body_ned(2); } // get the position of the body frame origin in local earth frame matrix::Vector3f getPosition() const @@ -116,48 +114,32 @@ class OutputPredictor // error magnitudes (rad), (m/sec), (m) const matrix::Vector3f &getOutputTrackingError() const { return _output_tracking_error; } + bool aligned() const { return _output_filter_aligned; } + void set_imu_offset(const matrix::Vector3f &offset) { _imu_pos_body = offset; } void set_pos_correction_tc(const float tau) { _pos_tau = tau; } void set_vel_correction_tc(const float tau) { _vel_tau = tau; } private: - /* - * Calculate a correction to be applied to vert_vel that casues vert_vel_integ to track the EKF - * down position state at the fusion time horizon using an alternative algorithm to what - * is used for the vel and pos state tracking. The algorithm applies a correction to the vert_vel - * state history and propagates vert_vel_integ forward in time using the corrected vert_vel history. - * This provides an alternative vertical velocity output that is closer to the first derivative - * of the position but does degrade tracking relative to the EKF state. - */ - void applyCorrectionToVerticalOutputBuffer(float vert_vel_correction); - - /* - * Calculate corrections to be applied to vel and pos output state history. - * The vel and pos state history are corrected individually so they track the EKF states at - * the fusion time horizon. This option provides the most accurate tracking of EKF states. - */ - void applyCorrectionToOutputBuffer(const matrix::Vector3f &vel_correction, const matrix::Vector3f &pos_correction); + void propagateVelocityUpdateToPosition(); // return the square of two floating point numbers - used in auto coded sections static constexpr float sq(float var) { return var * var; } struct outputSample { - uint64_t time_us{0}; ///< timestamp of the measurement (uSec) - matrix::Quatf quat_nominal{1.f, 0.f, 0.f, 0.f}; ///< nominal quaternion describing vehicle attitude - matrix::Vector3f vel{0.f, 0.f, 0.f}; ///< NED velocity estimate in earth frame (m/sec) - matrix::Vector3f pos{0.f, 0.f, 0.f}; ///< NED position estimate in earth frame (m/sec) - }; + uint64_t time_us{0}; ///< timestamp of the measurement (uSec) + matrix::Quatf quat_nominal{1.f, 0.f, 0.f, 0.f}; ///< nominal quaternion describing vehicle attitude + matrix::Vector3f vel{0.f, 0.f, 0.f}; ///< NED velocity estimate in earth frame (m/sec) + matrix::Vector3f pos{0.f, 0.f, 0.f}; ///< NED position estimate in earth frame (m/sec) - struct outputVert { - uint64_t time_us{0}; ///< timestamp of the measurement (uSec) - float vert_vel{0.f}; ///< Vertical velocity calculated using alternative algorithm (m/sec) - float vert_vel_integ{0.f}; ///< Integral of vertical velocity (m) - float dt{0.f}; ///< delta time (sec) + matrix::Vector3f vel_alternative{0.f, 0.f, 0.f}; ///< NED velocity calculated using alternative algorithm (m/sec) + matrix::Vector3f vel_alternative_integ{0.f, 0.f, 0.f}; ///< NED integral of velocity (m) + + float dt{0.f}; ///< delta time (sec) }; RingBuffer _output_buffer{12}; - RingBuffer _output_vert_buffer{12}; matrix::Vector3f _accel_bias{}; matrix::Vector3f _gyro_bias{}; @@ -170,7 +152,6 @@ class OutputPredictor // Output Predictor outputSample _output_new{}; // filter output on the non-delayed time horizon - outputVert _output_vert_new{}; // vertical filter output on the non-delayed time horizon matrix::Matrix3f _R_to_earth_now{}; // rotation matrix from body to earth frame at current time matrix::Vector3f _vel_imu_rel_body_ned{}; // velocity of IMU relative to body origin in NED earth frame matrix::Vector3f _vel_deriv{}; // velocity derivative at the IMU in NED earth frame (m/s/s) @@ -182,6 +163,8 @@ class OutputPredictor matrix::Vector3f _output_tracking_error{}; ///< contains the magnitude of the angle, velocity and position track errors (rad, m/s, m) + bool _output_filter_aligned{false}; + matrix::Vector3f _imu_pos_body{}; ///< xyz position of IMU in body frame (m) // output complementary filter tuning diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 4b27a5bf2c3c..b5fd0e867560 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -690,12 +690,24 @@ void EKF2::Run() if (_ekf.update()) { perf_set_elapsed(_ecl_ekf_update_full_perf, hrt_elapsed_time(&ekf_update_start)); - PublishLocalPosition(now); - PublishOdometry(now, imu_sample_new); - PublishGlobalPosition(now); + if (_ekf.attitude_valid() && _ekf.output_predictor().aligned()) { + // publish output predictor output + PublishLocalPosition(now); + PublishOdometry(now, imu_sample_new); + PublishGlobalPosition(now); + } + + // online accel/gyro/mag calibration + UpdateAccelCalibration(now); + UpdateGyroCalibration(now); + UpdateMagCalibration(now); + + // publish other state output used by the system not dependent on output predictor + PublishSensorBias(now); PublishWindEstimate(now); // publish status/logging messages + PublishAidSourceStatus(now); PublishBaroBias(now); PublishGnssHgtBias(now); #if defined(CONFIG_EKF2_RANGE_FINDER) @@ -717,13 +729,6 @@ void EKF2::Run() PublishStatusFlags(now); PublishYawEstimatorStatus(now); - UpdateAccelCalibration(now); - UpdateGyroCalibration(now); - UpdateMagCalibration(now); - PublishSensorBias(now); - - PublishAidSourceStatus(now); - } else { // ekf no update perf_set_elapsed(_ecl_ekf_update_perf, hrt_elapsed_time(&ekf_update_start)); @@ -999,7 +1004,7 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp) void EKF2::PublishAttitude(const hrt_abstime ×tamp) { - if (_ekf.attitude_valid()) { + if (_ekf.attitude_valid() && _ekf.output_predictor().aligned()) { // generate vehicle attitude quaternion data vehicle_attitude_s att; att.timestamp_sample = timestamp; @@ -1009,7 +1014,7 @@ void EKF2::PublishAttitude(const hrt_abstime ×tamp) att.timestamp = _replay_mode ? timestamp : hrt_absolute_time(); _attitude_pub.publish(att); - } else if (_replay_mode) { + } else if (_replay_mode) { // in replay mode we have to tell the replay module not to wait for an update // we do this by publishing an attitude with zero timestamp vehicle_attitude_s att{}; diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 7211ac4cd99c..1f234f77b292 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ 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