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uwb.cpp
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#include <stdio.h>
#include <math.h>
#include"config.h"
#include "Cn2b.h"
#include "find_matched_ins.h"
#pragma warning(disable:4996)
#include <iostream>
using namespace std;
double d2r = pi / 180, r2d = 180 / pi;
double dh2rs = d2r / 3600;
double acc_sf = 0.05 * pow(2, -15);//加速度比例因子
double gyr_sf = 0.1 * pow(2, -8);//角速度比例因子
double llh0[3] = { 39.95052634181 * d2r,116.330874837810 * d2r,45.6151000000000 };//纬度经度高程
double Lati0 = llh0[0];
double Longi0 = llh0[1];
double Alti0 = llh0[2];
int main()
{
//---------------Initialize--------------------
//-------1.imu、uwb初始化------------------
FILE* RAWIMU_IN = NULL, * UWB = NULL;//imu原始数据
Matrix IMU_info, INS_Time, Deltavel, Deltaang, UWB_info, UWB_Time, UWB_d;
//Pfilter, Qkf, G, F, H, R, Xfilter, discreteF,
//angle,velocity, err_gyr, err_acc, temp_err_gyr, temp_err_acc;
double a0[3] = { 0,0,3.87 }, a1[3] = { -0.305, 32.732,3.610 }, a2[3] = { 6.956,32.732,4.158 }, a3[3] = { 6.977,0, 3.621 };//基站坐标
double Pos[3];//位置
double Vx, Vy, Vz;//速度
double roll = 0.0513703720 * d2r;//滚转角
double pitch = 0.437961887 * d2r;//俯仰角
double yaw = (257.540582621) * d2r;//偏航角
int UWB_num = 2;//做判断
IMU_info.base = NULL;
IMU_info.row = IMU_LENGTH;
IMU_info.col = 7;
INS_Time.base = NULL;
INS_Time.row = IMU_LENGTH;
INS_Time.col = 1;
Deltavel.base = NULL;
Deltavel.row = IMU_LENGTH;
Deltavel.col = 3;
Deltaang.base = NULL;
Deltaang.row = IMU_LENGTH;
Deltaang.col = 3;
UWB_info.base = NULL;
UWB_info.row = UWB_LENGTH;
UWB_info.col = 8;
UWB_Time.base = NULL;
UWB_Time.row = UWB_LENGTH;
UWB_Time.col = 1;
UWB_d.base = NULL;
UWB_d.row = UWB_LENGTH;
UWB_d.col = 4;
CreateMatrix(&(IMU_info.base), IMU_info.col, IMU_info.row);
CreateMatrix(&(INS_Time.base), INS_Time.col, INS_Time.row);
CreateMatrix(&(Deltavel.base), Deltavel.col, Deltavel.row);
CreateMatrix(&(Deltaang.base), Deltaang.col, Deltaang.row);
CreateMatrix(&(UWB_info.base), UWB_info.col, UWB_info.row);
CreateMatrix(&(UWB_Time.base), UWB_Time.col, UWB_Time.row);
CreateMatrix(&(UWB_d.base), UWB_d.col, UWB_d.row);
RAWIMU_IN = fopen("imu.txt", "r");//imu文件
UWB = fopen("uwb2.txt", "r"); //uwb文件
//-------imu文件读取--------------------
fseek(RAWIMU_IN, sizeof(int), SEEK_CUR);
for (int i = 0; i < IMU_LENGTH; i++)//读取imu文件
{
for (int j = 0; j < 7; j++)
{
fscanf(RAWIMU_IN, "%lf", &IMU_info.base[i][j]);
}
fseek(RAWIMU_IN, sizeof(int) + sizeof("\n"), SEEK_CUR);//每一行后有一个回车，占2个字节，加上第一列的4个字节，共6个字节
}
fclose(RAWIMU_IN);
//-------imu文件读取结束-----------------
//-------uwb文件读取--------------------
for (int i = 0; i < UWB_LENGTH; i++)
{
fscanf(UWB, "%lf", &UWB_info.base[i][0]);
for (int j = 1; j <= 7; j++)
{
fscanf(UWB, "%lf", &UWB_info.base[i][j]);
}
//fseek(UWB, sizeof("\n"), SEEK_CUR);//每一行后面有一个回车，需要跳过
}
fclose(UWB);
//-------uwb文件读取结束-----------------
for (int i = 0; i < 100; i++)
printf("%f %f %f %f %f %f %f \n", IMU_info.base[i][0], IMU_info.base[i][1], IMU_info.base[i][2], IMU_info.base[i][3], IMU_info.base[i][4], IMU_info.base[i][5], IMU_info.base[i][6]);
for (int i = 0; i < IMU_LENGTH; i++)
{
INS_Time.base[i][0] = IMU_info.base[i][0];
Deltavel.base[i][0] = -IMU_info.base[i][2] * acc_sf;
Deltavel.base[i][1] = IMU_info.base[i][3] * acc_sf;
Deltavel.base[i][2] = -IMU_info.base[i][1] * acc_sf;
Deltaang.base[i][0] = -IMU_info.base[i][5] * gyr_sf / 3600 * d2r;
Deltaang.base[i][1] = IMU_info.base[i][6] * gyr_sf / 3600 * d2r;
Deltaang.base[i][2] = -IMU_info.base[i][4] * gyr_sf / 3600 * d2r;
}
for (int i = 0; i < UWB_LENGTH; i++)
{
UWB_Time.base[i][0] = UWB_info.base[i][0];
UWB_d.base[i][0] = UWB_info.base[i][1] / 1000;
UWB_d.base[i][1] = UWB_info.base[i][2] / 1000;
UWB_d.base[i][2] = UWB_info.base[i][3] / 1000;
UWB_d.base[i][3] = UWB_info.base[i][4] / 1000;
}
//基站坐标
double Anchor[4][3];
Anchor[0][0] = 0.0;
Anchor[0][1] = 0.0;
Anchor[0][2] = 3.87;
Anchor[1][0] = -0.305;
Anchor[1][1] = 32.732;
Anchor[1][2] = 3.610;
Anchor[2][0] = 6.956;
Anchor[2][1] = 32.732;
Anchor[2][2] = 4.158;
Anchor[3][0] = 6.977;
Anchor[3][1] = 0.0;
Anchor[3][2] = 3.621;
//---------姿态初始化---------
double Cnb[3][3], Q[4], Cbn[3][3];
Cn2b(yaw, pitch, roll, Cnb, Q);
//初始化Cbn
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
Cbn[i][j] = Cnb[j][i];
//---------位置初始化---------
Pos[0] = UWB_info.base[0][5];
Pos[1] = UWB_info.base[0][6];
Pos[2] = UWB_info.base[0][7];
//---------速度初始化---------
double V[3];
Vx = 0.0;
Vy = -0.001000;
Vz = 0.0068;
V[0] = Vx;
V[1] = Vy;
V[2] = Vz;
//-------1.imu、uwb初始化结束------------------
//-------2.KF初始化----------------------------
double kfT = 0.25;//KF频率
double dprh2rprs = (pi / 180) / sqrt(3600);
double std_yaw = 2.2 * d2r;
double std_pitch = 2.2 * d2r;
double std_roll = 2.2 * d2r;
double std_gyro = 0.1 * dprh2rprs;
double std_acc = 5.9e-3 * g0;
double std_pos[3] = { 10,10,20.0 };
double std_vel[3] = { 5,5,5 };
double std_Rab[3] = { 5.0,5.0,5.0 };
double std_UWB_d[4] = { 0.2,0.2,0.2,0.2 };
double std_UWB_vel[3] = { 0.1,0.1,0.1 };
double Pdiag[D_X] = { std_roll * std_roll,std_pitch * std_pitch, std_yaw * std_yaw ,std_pos[0] * std_pos[0],
std_pos[1] * std_pos[1],std_pos[2] * std_pos[2],std_vel[0] * std_vel[0], std_vel[1] * std_vel[1] ,
std_vel[2] * std_vel[2] ,std_gyro * std_gyro ,std_gyro * std_gyro ,std_gyro * std_gyro ,
std_acc * std_acc ,std_acc * std_acc ,std_acc * std_acc };
double Pfilter[D_X][D_X];
for (int i = 0; i < D_X; i++)
Pfilter[i][i] = Pdiag[i];
//diag(Pfilter, Pdiag, 15);
double Qdiag[6] = { std_gyro * std_gyro ,std_gyro * std_gyro ,std_gyro * std_gyro ,
std_acc * std_acc ,std_acc * std_acc ,std_acc * std_acc };
double Qkf[6][6];
for (int i = 0; i < 6; i++)
Qkf[i][i] = Qdiag[i];
//diag(Qkf, Qdiag, 6);
double Rdiag[D_M] = { std_UWB_d[0] * std_UWB_d[0],std_UWB_d[1] * std_UWB_d[1],std_UWB_d[2] * std_UWB_d[2],std_UWB_d[3] * std_UWB_d[3] };
double R[D_M][D_M];
for (int i = 0; i < D_M; i++)
R[i][i] = Rdiag[i];
double discreteF[D_X][D_X];
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
if (i == j)
{
discreteF[i][j] = 1;
}
else
{
discreteF[i][j] = 0;
}
}
}
double G[D_X][6];
for (int i = 0; i < D_X; i++)
for (int j = 0; j < 6; j++)
G[i][j] = 0;
double F[D_X][D_X];
for (int i = 0; i < D_X; i++)
for (int j = 0; j < D_X; j++)
F[i][j] = 0;
double H[D_M][D_X];
for (int i = 0; i < D_M; i++)
for (int j = 0; j < D_X; j++)
H[i][j] = 0;
double Xfilter[D_X];
for (int i = 0; i < D_X; i++)
Xfilter[i] = 0;
double angle[3];
for (int i = 0; i < 3; i++)
angle[i] = 0;
double velocity[3];
for (int i = 0; i < 3; i++)
velocity[i] = 0;
double err_gyr[3];
for (int i = 0; i < 3; i++)
err_gyr[i] = 0;
double err_acc[3];
for (int i = 0; i < 3; i++)
err_acc[i] = 0;
double temp_err_gyr[3];
for (int i = 0; i < 3; i++)
temp_err_gyr[i] = 0;
double temp_err_acc[3];
for (int i = 0; i < 3; i++)
temp_err_acc[i] = 0;
//-------------2.KF初始化结束----------------------
//-------------3.imu_update and KF-----------------
//--------------imu_update开始---------------------
int count = 1;
double ang_1[3] = { 0.0,0.0,0.0 }, vel_1[3] = { 0.0,0.0,0.0 }, ang_2[3] = { 0.0,0.0,0.0 }, vel_2[3] = { 0.0,0.0,0.0 };
Matrix ins_result;
ins_result.base = NULL;
ins_result.row = IMU_LENGTH;
ins_result.col = 10;
CreateMatrix(&(ins_result.base), ins_result.col, ins_result.row);
//----------------------------------大循环开始---------------------------------------------------------------------------------------------------------
for (int i = 0; i < IMU_LENGTH; i++)
{
if (i % 2 == 0)
{
for (int j = 0; j < 3; j++)
{
ang_1[j] = Deltaang.base[i][j];
vel_1[j] = Deltavel.base[i][j];
}
}
else {
for (int j = 0; j < 3; j++)
{
ang_2[j] = Deltaang.base[i][j];
vel_2[j] = Deltavel.base[i][j];
}
double vel_scull_b[3];
for (int i = 0; i < 3; i++)
angle[i] = ang_1[i] + ang_2[i];
for (int i = 0; i < 3; i++)
velocity[i] = vel_1[i] + vel_2[i];
double tmp1[3], tmp2[3], tmp3[3];//为求解vel_scull_b而设立的临时变量
cross(angle, velocity, tmp1);
cross(ang_1, vel_2, tmp2);
cross(vel_1, ang_2, tmp3);
for (int i = 0; i < 3; i++)
vel_scull_b[i] = velocity[i] + 0.5 * tmp1[i] + 2.0 / 3.0 * (tmp2[i] + tmp3[i]);
//-----------------调试点1-----------------------------------------------------------------------------------
printf("%d vel_scrull\n", i);
cout << vel_scull_b[0] << "\t" << vel_scull_b[1] << "\t" << vel_scull_b[2] << endl;
//---------------调试点1结束---------------------------------------------------------------------------------------
double wien[3], wenn[3], winn[3], winb[3], g_local[3];
double temp = 1 - eeee * sin(Lati0) * sin(Lati0);
double rn = r0 * (1 - eeee) / pow(temp, 1.5) + Alti0;
double re = r0 / sqrt(temp) + Alti0;
wien[0] = WIE * cos(Lati0);
wien[1] = 0.0;
wien[2] = -WIE * sin(Lati0);
wenn[0] = Vy / (re + Alti0);
wenn[1] = -Vx / (rn + Alti0);
wenn[2] = -Vy * tan(Lati0) / (re + Alti0);
for (int i = 0; i < 3; i++)
winn[i] = wien[i] + wenn[i];
for (int i = 0; i < 3; i++)
{
double sum = 0.0;
for (int j = 0; j < 3; j++)
sum += Cnb[i][j] * winn[j];
winb[i] = sum;
}
double g_u = g0 * (1 + 0.00193185138639 * sin(Lati0) * sin(Lati0)) / ((1 - 0.00669437999013 * sin(Lati0) * sin(Lati0)) * (1 - 0.00669437999013 * sin(Lati0) * sin(Lati0)) * (1.0 + Alti0 / r0) * (1.0 + Alti0 / r0));
g_local[0] = 0;
g_local[1] = 0;
g_local[2] = g_u;
//---------速度更新---------------
//-----------------调试点2-----------------------------------------------------------------------------------
printf("%d: before upgrade V\n", i);
printf("%f\t%f\t%f\n", Vx, Vy, Vz);
//---------------调试点2结束---------------------------------------------------------------------------------------
//---------------查看Cnb、Q-------------------------------------------------------------------------------------------
cout << i << " " << "Cnb" << " before upgrade" << endl;
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
cout << Cnb[i][j] << " ";
}
cout << endl;
}
cout << i << " " << "Q" << " before upgrade" << endl;
for (int i = 0; i < 4; i++)
cout << Q[i] << " ";
cout << endl;
//---------------查看Cnb、Q结束---------------------------------------------
for (int i = 0; i < 3; i++)
{
double sum = 0.0;
for (int j = 0; j < 3; j++)
sum += Cbn[i][j] * vel_scull_b[j];
V[i] += (sum + g_local[i] * 2 * T);
}
V[2] = 0.0;
Vx = V[0];
Vy = V[1];
Vz = V[2];
//-----------------调试点3-----------------------------------------------------------------------------------
printf("%d after upgrade V\n", i);
printf("%f\t%f\t%f\n", Vx, Vy, Vz);
//---------------调试点3结束---------------------------------------------------------------------------------------
//----------速度更新结束----------
//----------位置更新--------------
Pos[0] += 2 * T * Vx;
Pos[1] += 2 * T * Vy;
Pos[2] -= 2 * T * Vz;
//----------位置更新结束----------
//----------姿态更新--------------
for (int i = 0; i < 3; i++)
{
ang_1[i] -= winb[i] * T;
ang_2[i] -= winb[i] * T;
}
double TurnVector[3];
double tmp[3];
cross(ang_1, ang_2, tmp);
for (int i = 0; i < 3; i++)
TurnVector[i] = ang_1[i] + ang_2[i] + 2.0 / 3.0 * tmp[i];
double wnnb[3];
for (int i = 0; i < 3; i++)
wnnb[i] = TurnVector[i] / (2 * T);
double NormSquare = TurnVector[0] * TurnVector[0] + TurnVector[1] * TurnVector[1] + TurnVector[2] * TurnVector[2];
double dthetaMatrix[4][4] = { {0, -TurnVector[0], -TurnVector[1], -TurnVector[2]},
{TurnVector[0], 0,TurnVector[2] ,-TurnVector[1] },
{TurnVector[1], -TurnVector[2], 0, TurnVector[0]},
{TurnVector[2], TurnVector[1], -TurnVector[0], 0}
};
double QuaternionMatrix[4][4];
//----------------------修改点2(2022.1.12)-------------------
//修改原因:QuaternionMatrix建立在单位阵上，之前没注意这一点
//eye(4)单位阵
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
if (i == j)
QuaternionMatrix[i][j] = 1;
else
QuaternionMatrix[i][j] = 0;
for (int i = 0; i < 4; i++)
QuaternionMatrix[i][i] *= (1 - NormSquare / 8.0 + NormSquare * NormSquare / 384.0);
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
QuaternionMatrix[i][j] += (0.5 - NormSquare / 48.0) * dthetaMatrix[i][j];
//----------------------修改点2结束-----------------------------
double Q_update[4];
for (int i = 0; i < 4; i++)
{
double sum = 0.0;
for (int j = 0; j < 4; j++)
sum += QuaternionMatrix[i][j] * Q[j];
Q_update[i] = sum;
}
for (int i = 0; i < 4; i++)
Q[i] = Q_update[i] / norm(Q_update, 4);
double q11 = Q[0] * Q[0], q12 = Q[0] * Q[1], q13 = Q[0] * Q[2], q14 = Q[0] * Q[3];
double q22 = Q[1] * Q[1], q23 = Q[1] * Q[2], q24 = Q[1] * Q[3];
double q33 = Q[2] * Q[2], q34 = Q[2] * Q[3];
double q44 = Q[3] * Q[3];
double Cbn[3][3] = { {q11 + q22 - q33 - q44, 2 * (q23 - q14), 2 * (q24 + q13)},
{2 * (q23 + q14),q11 - q22 + q33 - q44,2 * (q34 - q12)},
{2 * (q24 - q13),2 * (q34 + q12),q11 - q22 - q33 + q44}
};
for (int i = 0; i < 3; i++)
for (int j = 0; j < 3; j++)
Cnb[i][j] = Cbn[j][i];
//---------------查看更新后Cnb、Q-------------------------------------------------------------------------------------------
cout << i << " " << "Cnb" << " after upgrade" << endl;
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
cout << Cnb[i][j] << " ";
}
cout << endl;
}
cout << i << " " << "Q" << " after upgrade" << endl;
for (int i = 0; i < 4; i++)
cout << Q[i] << " ";
cout << endl;
//---------------查看Cnb、Q结束结束---------------------------------------------
yaw = atan2(Cnb[0][1], Cnb[0][0]) * r2d;
pitch = asin(-Cnb[0][2]) * r2d;
roll = atan2(Cnb[1][2], Cnb[2][2]) * r2d;
// ----------------姿态更新结束-----------------------------------------------
// ----------------imu_update结束-------------------------------------------
// ----------------KF开始---------------------------------------------------
double fned[3];
for (int i = 0; i < 3; i++)
{
double sum = 0.0;
for (int j = 0; j < 3; j++)
sum += Cbn[i][j] * velocity[j];
fned[i] = sum / (2 * T);
}
F[0][0] = 0;
F[0][1] = -WIE * sin(Lati0);
F[0][2] = 0;
F[1][0] = 0;
F[1][1] = 0;
F[1][2] = WIE * cos(Lati0);
F[2][0] = 0;
F[2][1] = -WIE * cos(Lati0);
F[2][2] = 0;
for (int i = 0; i < 3; i++)
{
for (int j = 9; j < 12; j++)
{
F[i][j] = -Cbn[i][j - 9];
}
}
F[3][6] = 1;
F[3][7] = 0;
F[3][8] = 0;
F[4][6] = 0;
F[4][7] = 1;
F[4][8] = 0;
F[5][6] = 0;
F[5][7] = 0;
F[5][8] = -1;
F[6][0] = 0;
F[6][1] = -fned[2];
F[6][2] = fned[1];
F[7][0] = fned[2];
F[7][1] = 0;
F[7][2] = -fned[0];
F[8][0] = -fned[1];
F[8][1] = fned[0];
F[8][2] = 0;
F[6][6] = 0;
F[6][7] = -WIE * sin(Lati0);
F[6][8] = 0;
F[7][6] = 2 * WIE * sin(Lati0);
F[7][7] = 0;
F[7][8] = 2 * WIE * cos(Lati0);
F[8][6] = 0;
F[8][7] = -2 * WIE * cos(Lati0);
F[8][8] = 0;
for (int i = 6; i < 9; i++)
{
for (int j = 12; j < 15; j++)
{
F[i][j] = Cbn[i - 6][j - 12];
}
}
//离散矩阵
double phi_5_1[D_X][D_X];
double matrix_multiple[D_X][D_X]; //存放中间结果
MultiplyMatrix(F, F, matrix_multiple);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
matrix_multiple[i][j] = matrix_multiple[i][j] * 0.5 * 4 * T * T;
}
}
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
phi_5_1[i][j] = discreteF[i][j] + F[i][j] * 2 * T + matrix_multiple[i][j];
}
}
MultiplyMatrix(phi_5_1, discreteF, discreteF);
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
G[i][j] = -Cbn[i][j];
}
}
for (int i = 6; i < 9; i++)
{
for (int j = 3; j < 6; j++)
{
G[i][j] = Cbn[i - 6][j - 3];
}
}
int index_UWB;
if (UWB_num < UWB_LENGTH)
{
index_UWB = find_matched_ins(INS_Time, UWB_Time.base[UWB_num - 1][0]);//这里减一是因为matlab下标从1开始
//C的下标从0开始
}
int UWB_feedback;
UWB_feedback = 1;
cout << "i " << i << " index_UWB " << index_UWB << endl;
cout << "i " << i << " UWB_num " << UWB_num << endl;
if (i == index_UWB && UWB_feedback == 1)
{
//更改点(2022.1.12)
//更改原因:transG为G的转置，行列维度要互换，之前没变
double transG[6][D_X];
for (int i = 0; i < 6; i++)
{
for (int j = 0; j < D_X; j++)
{
transG[i][j] = G[j][i];
}
}
double mid[D_X][6];
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < 6; j++)
{
double sum = 0.0;
for (int k = 0; k < 6; k++)
{
sum += G[i][k] * Qkf[k][j];
}
mid[i][j] = sum;
}
}
double M1[D_X][D_X];
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
double sum = 0.0;
for (int k = 0; k < 6; k++)
{
sum += mid[i][k] * transG[k][j];
}
M1[i][j] = sum;
}
}
double M2[D_X][D_X], M3[D_X][D_X], M4[D_X][D_X],
M5[D_X][D_X], M6[D_X][D_X], M7[D_X][D_X], M8[D_X][D_X], M9[D_X][D_X], M10[D_X][D_X];
double mid1[D_X][D_X], mid2[D_X][D_X]; //存放中间结果,mid1存放F*Mi,mid2存放Mi'*F'
double transF[D_X][D_X];
double transMs[D_X][D_X]; //存放M1-M9的转置结果
MultiplyMatrix(F, M1, mid1);
TransposeMatrix(F, transF);
TransposeMatrix(M1, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M2[i][j] = mid1[i][j] + mid2[i][j];
}
}
MultiplyMatrix(F, M2, mid1);
TransposeMatrix(M2, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M3[i][j] = mid1[i][j] + mid2[i][j];
}
}
MultiplyMatrix(F, M3, mid1);
TransposeMatrix(M3, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M4[i][j] = mid1[i][j] + mid2[i][j];
}
}
MultiplyMatrix(F, M4, mid1);
TransposeMatrix(M4, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M5[i][j] = mid1[i][j] + mid2[i][j];
}
}
MultiplyMatrix(F, M5, mid1);
TransposeMatrix(M5, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M6[i][j] = mid1[i][j] + mid2[i][j];
}
}
MultiplyMatrix(F, M6, mid1);
TransposeMatrix(M6, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M7[i][j] = mid1[i][j] + mid2[i][j];
}
}
MultiplyMatrix(F, M7, mid1);
TransposeMatrix(M7, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M8[i][j] = mid1[i][j] + mid2[i][j];
}
}
MultiplyMatrix(F, M8, mid1);
TransposeMatrix(M8, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M9[i][j] = mid1[i][j] + mid2[i][j];
}
}
MultiplyMatrix(F, M9, mid1);
TransposeMatrix(M9, transMs);
MultiplyMatrix(transMs, transF, mid2);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
M10[i][j] = mid1[i][j] + mid2[i][j];
}
}
double discreteQ[D_X][D_X];
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
discreteQ[i][j] = M1[i][j] * kfT + M2[i][j] * pow(kfT, 2) / 2 + M3[i][j] * pow(kfT, 3) / 6 + M4[i][j] * pow(kfT, 4) / 24 + M5[i][j] * pow(kfT, 5) / 120 + M6[i][j] * pow(kfT, 6) / 720
+ M7[i][j] * pow(kfT, 7) / 5040 + M8[i][j] * pow(kfT, 8) / 40320 + M9[i][j] * pow(kfT, 9) / 362880 + M10[i][j] * pow(kfT, 10) / 3628800;
}
}
double UWB_dis[4];
for (int i = 0; i < 4; i++)
{
//更改点(2022.1.12)
//更改原因:下标问题，UWB_num要减1
UWB_dis[i] = UWB_d.base[UWB_num - 1][i];
}
double INS_dis[4];
for (int k = 0; k < Anchor_num; k++)
{
INS_dis[k] = pow(pow(Pos[0] - Anchor[k][0], 2) + pow(Pos[1] - Anchor[k][1], 2) + pow(Pos[2] - Anchor[k][2], 2), 0.5);
}
double Y[Anchor_num];
for (int i = 0; i < Anchor_num; i++)
{
Y[i] = INS_dis[i] - UWB_dis[i];
}
double H[D_M][D_X];
for (int i = 0; i < D_M; i++)
{
for (int j = 0; j < D_X; j++)
{
H[i][j] = 0;
}
}
for (int k = 0; k < Anchor_num; k++)
{
for (int j = 3; j < 6; j++)
{
H[k][j] = (Pos[j - 3] - Anchor[k][j - 3]) / UWB_dis[k];
}
}
double Xfilter[D_X];
for (int i = 0; i < D_X; i++)
{
Xfilter[i] = 0;
}
double Xexpect[D_X];
for (int i = 0; i < D_X; i++)
{
double sum = 0.0;
for (int j = 0; j < D_X; j++)
{
sum += discreteF[i][j] * Xfilter[j];
}
Xexpect[i] = sum;
}
//-----------------Xexpect首次更新调试点--------------------------------------------
printf("%d Xexpect\n", i);
for (int i = 0; i < D_X; i++)
cout << Xexpect[i] << " ";
cout << endl;
//----------------调试点结束----------------------------------------
double Pexpect[D_X][D_X];
double transdiscreteF[D_X][D_X];
double mid3[D_X][D_X]; //暂存中间结果
double mid4[D_X][D_X]; //暂存中间结果
TransposeMatrix(discreteF, transdiscreteF);
MultiplyMatrix(discreteF, Pfilter, mid3);
MultiplyMatrix(mid3, transdiscreteF, mid4);
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_X; j++)
{
Pexpect[i][j] = mid4[i][j] + discreteQ[i][j];
}
}
double mid5[D_X][D_M];
double mid6[D_M][D_X];
double mid7[D_M][D_M];
double transH[D_X][D_M];
double inv[D_M][D_M];
double K[D_X][D_M];
for (int i = 0; i < D_M; i++)
{
for (int j = 0; j < D_X; j++)
{
transH[j][i] = H[i][j];
}
}
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_M; j++)
{
double sum = 0.0;
for (int k = 0; k < D_X; k++)
{
sum += Pexpect[i][k] * transH[k][j];
}
mid5[i][j] = sum;
}
}
for (int i = 0; i < D_M; i++)
{
for (int j = 0; j < D_X; j++)
{
double sum = 0.0;
for (int k = 0; k < D_X; k++)
{
sum += H[i][k] * Pexpect[k][j];
}
mid6[i][j] = sum;
}
}
for (int i = 0; i < D_M; i++)
{
for (int j = 0; j < D_M; j++)
{
double sum = 0.0;
for (int k = 0; k < D_X; k++)
{
sum += mid6[i][k] * transH[k][j];
}
mid7[i][j] = sum;
}
}
for (int i = 0; i < D_M; i++)
{
for (int j = 0; j < D_M; j++)
{
mid7[i][j] = mid7[i][j] + R[i][j];
}
}
//------------矩阵求逆，不确定是否正确------------------
//------------矩阵求逆：调试----------------------------
printf("求逆前：\n");
//double mid7[D_M][D_M];
for (int i = 0; i < D_M; i++) {
for (int j = 0; j < D_M; j++) {
printf("%ld ", mid7[i][j]);
}
printf("\n");
}
//InverseMatrix(mid7, inv);
Mat inter1;
Mat inter2;
MatCreate(&inter1, D_M, D_M);
for (int i = 0; i < D_M; i++) {
for (int j = 0; j < D_M; j++) {
inter1.element[i][j] = mid7[i][j];
}
}
MatInv1(&inter1, &inter2);
for (int i = 0; i < D_M; i++) {
for (int j = 0; j < D_M; j++) {
inv[i][j] = inter2.element[i][j];
}
}
printf("求逆后：\n");
//double inv[D_M][D_M];
for (int i = 0; i < D_M; i++) {
for (int j = 0; j < D_M; j++) {
printf("%ld ", inv[i][j]);
}
printf("\n");
}
//------------矩阵求逆：调试结束------------------------
for (int i = 0; i < D_X; i++)
{
for (int j = 0; j < D_M; j++)
{
double sum = 0.0;
for (int k = 0; k < D_M; k++)
{
sum += mid5[i][k] * inv[k][j];
}
K[i][j] = sum;
}
}
double mid8[D_M];
double mid9[D_X];
for (int i = 0; i < D_M; i++)
{
double sum = 0.0;
for (int k = 0; k < D_X; k++)
{
sum += H[i][k] * Xexpect[k];
}
mid8[i] = sum;
}
for (int i = 0; i < D_M; i++)
{
mid8[i] = Y[i] - mid8[i];
}
//------------------调试点：此处mid8就是Y - H * Xexpect---------------
printf("%d Y - H * Xexpect\n", i);
for (int i = 0; i < D_M; i++) {
printf("%ld ", mid8[i]);
}
cout << endl;
//------------------调试点结束----------------------------------------
for (int i = 0; i < D_X; i++)
{
double sum = 0.0;
for (int k = 0; k < D_M; k++)
{
sum += K[i][k] * mid8[k];