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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,138 @@ | ||
| #include <iostream> | ||
| #include "utils.h" | ||
| #include "so3.h" | ||
| #include "kalmanpredictor.h" | ||
| #include "kalmancorrector.h" | ||
| #include "unscentedpredictor.h" | ||
| #include "unscentedcorrector.h" | ||
| #include "imu.h" | ||
| #include "imusensor.h" | ||
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| using namespace std; | ||
| using namespace gcop; | ||
| using namespace Eigen; | ||
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| typedef KalmanPredictor<ImuState, 9, 3, Dynamic> ImuKalmanPredictor; | ||
| typedef KalmanCorrector<ImuState, 9, 3, Dynamic, Matrix<double, 6, 1>, 6> ImuKalmanCorrector; | ||
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| typedef UnscentedPredictor<ImuState, 9, 3, Dynamic> ImuUnscentedPredictor; | ||
| typedef UnscentedCorrector<ImuState, 9, 3, Dynamic, Matrix<double, 6, 1>, 6> ImuUnscentedCorrector; | ||
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| int main(int argc, char** argv) | ||
| { | ||
| Imu imu; | ||
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| bool mag = true; | ||
| // int nz = mag ? 6 : 3; | ||
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| ImuSensor<6> sensor; | ||
| // sensor.sa = 0; // no acceleration bias drift | ||
| // sensor.sv = 0; // no acceleration bias drift | ||
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| ImuKalmanPredictor kp(imu); | ||
| ImuKalmanCorrector kc(imu.X, sensor); | ||
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| // ImuUnscentedPredictor kp(imu); | ||
| // ImuUnscentedCorrector kc(imu, sensor); | ||
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| // ImuKalmanCorrector ukf(imu, sensor); | ||
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| int N = 1500; | ||
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| vector<ImuState> xts(N); // true states | ||
| xts[0].bg << 0.1, 0, 0; // bias | ||
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| vector<ImuState> xs(N); // estimated trajectory | ||
| xs[0].P.topLeftCorner<3,3>().diagonal().setConstant(.1); | ||
| xs[0].P.block<3,3>(3,3).diagonal().setConstant(1e-2); | ||
| xs[0].P.bottomRightCorner<3,3>().diagonal().setConstant(1e-10); | ||
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| // true rotation | ||
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| double dt = .01; | ||
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| struct timeval timer; | ||
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| Vector3d qt; | ||
| Vector3d q; | ||
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| for (int i = 0; i < N-1; ++i) { | ||
| double t = i*dt; | ||
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| // true input (drifted angular velocity) | ||
| Vector3d wt(.2, .1, 0); // this is the undrifted | ||
| wt = wt + xts[i].bg; // drifted angular velocity | ||
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| // generate true | ||
| imu.Step(xts[i+1], t, xts[i], wt, dt); | ||
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| // drifted noisy gyro reading | ||
| Vector3d w = wt + imu.sv*Vector3d::Ones()*randn(); | ||
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| ImuState x; | ||
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| timer_start(timer); | ||
| kp.Predict(x, t, xs[i], w, dt); | ||
| long us = timer_us(timer); | ||
| cout << "Predict took " << us << " us." << endl; | ||
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| SO3::Instance().g2q(qt, xts[i+1].R); | ||
| SO3::Instance().g2q(q, x.R); | ||
| cout << "rpyt: " << qt.transpose() << endl; | ||
| cout << "rpye: " << q.transpose() << endl; | ||
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| // true measurements of acc and mag | ||
| Vector3d at = xts[i+1].R.transpose()*sensor.a0; | ||
| Vector3d mt = xts[i+1].R.transpose()*sensor.m0; | ||
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| // noisy measurements | ||
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| Vector6d z; | ||
| z.head<3>() = at + xts[i+1].ba + sensor.sra*Vector3d::Ones()*randn(); | ||
| z.head<3>().normalize(); | ||
| z.tail<3>() = mt + sensor.srm*Vector3d::Ones()*randn(); | ||
| z.tail<3>().normalize(); | ||
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| /* | ||
| Vector3d z; | ||
| z = at + xts[i+1].ba + sensor.sra*Vector3d::Ones()*randn(); | ||
| z.normalize(); | ||
| */ | ||
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| cout << "z=" << z.transpose() << endl; | ||
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| cout << "P-=" << x.P << endl; | ||
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| // if (i==N-2) { | ||
| timer_start(timer); | ||
| kc.Correct(xs[i+1], t, x, w, z); | ||
| //xs[i+1] = x; | ||
| us = timer_us(timer); | ||
| cout << "Update took " << us << " us." << endl; | ||
| // } | ||
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| cout << "True attitude: " << xts[i+1].R << endl; | ||
| cout << "Estim attitude: " << xs[i+1].R << endl; | ||
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| cout << "True biases: " << xts[i+1].bg.transpose() << endl; | ||
| cout << "Estim biases: " << xs[i+1].bg.transpose() << endl; | ||
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| cout << "P=: " << xs[i+1].P << endl; | ||
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| if (std::isnan(xs[i+1].R(0,0))) | ||
| break; | ||
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| SO3::Instance().g2q(qt, xts[i+1].R); | ||
| SO3::Instance().g2q(q, xs[i+1].R); | ||
| cout << "rpyt: " << qt.transpose() << endl; | ||
| cout << "rpye: " << q.transpose() << endl; | ||
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| Vector3d dR; | ||
| SO3::Instance().log(dR, xs[i+1].R.transpose()*xts[i+1].R); | ||
| cout << "rotation error: " << dR.norm() << endl; | ||
| // cout << "L_2 norm (state) =" << (xt - ukf.x).norm() << endl; | ||
| // cout << "L_2 norm (quat) =" << (xt.head(4) - ukf.x.head(4)).norm() << endl; | ||
| } | ||
| } |
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