[24] | 1 | // %flair:license{ |
---|
| 2 | // This file is part of the Flair framework distributed under the |
---|
| 3 | // CECILL-C License, Version 1.0. |
---|
| 4 | // %flair:license} |
---|
| 5 | |
---|
| 6 | // created: 2014/04/28 |
---|
| 7 | // filename: AhrsComplementaryFilter.cpp |
---|
| 8 | // |
---|
| 9 | // authors: Augustin Manecy (RT-MaG Toolbox author, augustin.manecy@gmail.com) |
---|
| 10 | // API changes by Guillaume Sanahuja to fit the Flair framework |
---|
| 11 | // |
---|
| 12 | // version: $Id: $ |
---|
| 13 | // |
---|
| 14 | // purpose: Class defining an Ahrs complementary filter |
---|
| 15 | // |
---|
| 16 | // |
---|
| 17 | /*********************************************************************/ |
---|
| 18 | |
---|
| 19 | #include "AhrsComplementaryFilter.h" |
---|
| 20 | #include <Imu.h> |
---|
| 21 | #include <DoubleSpinBox.h> |
---|
[198] | 22 | #include <Vector3DSpinBox.h> |
---|
[24] | 23 | #include <GridLayout.h> |
---|
| 24 | #include <ImuData.h> |
---|
| 25 | #include <AhrsData.h> |
---|
| 26 | #include <math.h> |
---|
| 27 | |
---|
| 28 | #define G 9.81 |
---|
| 29 | |
---|
| 30 | using std::string; |
---|
| 31 | using namespace flair::core; |
---|
| 32 | using namespace flair::gui; |
---|
| 33 | using namespace flair::sensor; |
---|
| 34 | |
---|
| 35 | namespace flair { namespace filter { |
---|
| 36 | |
---|
[223] | 37 | AhrsComplementaryFilter::AhrsComplementaryFilter(const Imu* parent,string name): Ahrs(parent,name) { |
---|
[24] | 38 | |
---|
[198] | 39 | QHat.q0=1; |
---|
| 40 | QHat.q1=0; |
---|
| 41 | QHat.q2=0; |
---|
| 42 | QHat.q3=0; |
---|
| 43 | BHat.x=0; |
---|
| 44 | BHat.y=0; |
---|
| 45 | BHat.z=0; |
---|
[24] | 46 | |
---|
[198] | 47 | ka[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"ka[0]:",0.,10,0.1,2,0.5); |
---|
| 48 | ka[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"ka[1]:",0.,10,0.1,2,0.5); |
---|
| 49 | ka[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"ka[2]:",0.,10.,0.1,2,0.); |
---|
[24] | 50 | |
---|
[198] | 51 | kb[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"kb[0]:",0.,10,0.1,2,0.01); |
---|
| 52 | kb[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[1]:",0.,10,0.1,2,0.01); |
---|
| 53 | kb[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[2]:",0.,10,0.1,2,0.01); |
---|
| 54 | |
---|
| 55 | //put km to [0,0,0] to disable magnetometers |
---|
| 56 | km[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"km[0]:",0.,50,0.1,2,0.01); |
---|
| 57 | km[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"km[1]:",0.,50,0.1,2,0.01); |
---|
| 58 | km[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"km[2]:",0.,50,0.1,2,0.01); |
---|
[157] | 59 | |
---|
[198] | 60 | magRef=new Vector3DSpinBox(parent->GetLayout()->NewRow(),"ref magnetic field (uT)", |
---|
| 61 | 0, 100, 1, |
---|
| 62 | 3,Vector3Df(20.5324,.2367,43.6682)); //Compiegne, France |
---|
[157] | 63 | SetIsReady(true); |
---|
[24] | 64 | } |
---|
| 65 | |
---|
| 66 | AhrsComplementaryFilter::~AhrsComplementaryFilter() { |
---|
| 67 | |
---|
| 68 | } |
---|
| 69 | |
---|
| 70 | void AhrsComplementaryFilter::UpdateFrom(const io_data *data) { |
---|
| 71 | ImuData *input=(ImuData*)data; |
---|
| 72 | float delta_t; |
---|
| 73 | AhrsData* ahrsData; |
---|
| 74 | GetDatas(&ahrsData); |
---|
[167] | 75 | Vector3Df rawAcc,rawMag,rawGyr; |
---|
[24] | 76 | input->GetRawAccMagAndGyr(rawAcc,rawMag,rawGyr); |
---|
| 77 | |
---|
[223] | 78 | delta_t=(float)(data->DataDeltaTime())/1000000000.; |
---|
[24] | 79 | |
---|
[167] | 80 | Vector3Df aBar,aHat,aTilde; |
---|
| 81 | Vector3Df mBar,mHat,mTilde; |
---|
[197] | 82 | Vector3Df alpha,dBHat,omegaHat,magRef; |
---|
[24] | 83 | Quaternion dQHat; |
---|
| 84 | |
---|
| 85 | //float ka[3]={0.5,0.5,0}; |
---|
| 86 | //float kb[3]={0.01,0.01,0.01}; |
---|
[197] | 87 | //float k_m[3]= {0,0,0}; |
---|
[198] | 88 | magRef=this->magRef->Value(); |
---|
[24] | 89 | |
---|
[223] | 90 | if(delta_t!=0) { |
---|
[197] | 91 | // CORRECTION FROM ACCELEROMETER |
---|
[24] | 92 | aBar = rawAcc; |
---|
| 93 | |
---|
| 94 | // estimation of IMU vector using QHat (estimated quaternion): aHat = Inv(QHat) * g |
---|
| 95 | /* |
---|
| 96 | Inv(QHat) = [q0 -q1 -q2 -q3]' |
---|
| 97 | Inv(QHat)*g = [1-2(q2^2+q3^2) 2(q1q2+q0q3) 2(q1q3-q0q2)] [0] |
---|
| 98 | [ 2(q1q2-q0q3) 1-2(q1^2+q3^2)) 2(q2q3+q0q1)] * [0] |
---|
| 99 | [ 2(q1q3+q0q2) 2(q2q3-q0q1) 1-2(q1^2+q2^2)] [g] |
---|
| 100 | */ |
---|
| 101 | aHat.x = -2*G*(QHat.q1*QHat.q3 - QHat.q0*QHat.q2); |
---|
| 102 | aHat.y = -2*G*(QHat.q2*QHat.q3 + QHat.q0*QHat.q1); |
---|
| 103 | aHat.z = -G*(1-2.0*(QHat.q1*QHat.q1 + QHat.q2*QHat.q2)); |
---|
| 104 | |
---|
| 105 | // cross(aHat, aBar) |
---|
| 106 | aTilde=CrossProduct(aHat, aBar); |
---|
| 107 | |
---|
[197] | 108 | |
---|
| 109 | // CORRECTION FROM MAGNETOMETER |
---|
| 110 | // estimation of IMU vector using QHat (estimated quaternion): mHat = Inv(QHat) * m_ref = Inv(QHat) * magRef |
---|
[24] | 111 | /* |
---|
| 112 | Inv(QHat) = [q0 -q1 -q2 -q3]' |
---|
[197] | 113 | Inv(QHat)*g = [1-2(q2^2+q3^2) 2(q1q2+q0q3) 2(q1q3-q0q2)] [magRef.x] |
---|
| 114 | [ 2(q1q2-q0q3) 1-2(q1^2+q3^2)) 2(q2q3+q0q1)] * [magRef.x] |
---|
| 115 | [ 2(q1q3+q0q2) 2(q2q3-q0q1) 1-2(q1^2+q2^2)] [magRef.x] |
---|
[24] | 116 | */ |
---|
[197] | 117 | mBar=rawMag; |
---|
| 118 | |
---|
| 119 | mHat.x = (1-2.0*(QHat.q2*QHat.q2 + QHat.q3*QHat.q3))*magRef.x+2.0*(QHat.q1*QHat.q2+QHat.q0*QHat.q3)*magRef.y+2.0*(QHat.q1*QHat.q3-QHat.q0*QHat.q2)*magRef.z; |
---|
| 120 | mHat.y = 2.0*(QHat.q1*QHat.q2 - QHat.q0*QHat.q3)*magRef.x+(1-2.0*(QHat.q1*QHat.q1 + QHat.q3*QHat.q3))*magRef.y+2.0*(QHat.q2*QHat.q3 + QHat.q0*QHat.q1)*magRef.z; |
---|
| 121 | mHat.z = 2.0*(QHat.q1*QHat.q3+QHat.q0*QHat.q2)*magRef.x+2.0*(QHat.q2*QHat.q3 - QHat.q0*QHat.q1)*magRef.y+(1-2.0*(QHat.q1*QHat.q1 + QHat.q2*QHat.q2))*magRef.z; |
---|
| 122 | |
---|
| 123 | |
---|
[24] | 124 | // compute the error between mHat and mTilde |
---|
| 125 | mTilde=CrossProduct(mHat, mBar); |
---|
| 126 | |
---|
| 127 | // Compute the debiased rotation speed |
---|
| 128 | omegaHat = rawGyr - BHat; |
---|
| 129 | |
---|
| 130 | // calculate the correction to apply to the quaternion |
---|
[197] | 131 | alpha.x = (ka[0]->Value()*aTilde.x)/(G*G) + (km[0]->Value()*mTilde.x)/(magRef.GetNorm()*magRef.GetNorm()); |
---|
| 132 | alpha.y = (ka[1]->Value()*aTilde.y)/(G*G) + (km[1]->Value()*mTilde.y)/(magRef.GetNorm()*magRef.GetNorm()); |
---|
| 133 | alpha.z = (ka[2]->Value()*aTilde.z)/(G*G) + (km[2]->Value()*mTilde.z)/(magRef.GetNorm()*magRef.GetNorm()); |
---|
[24] | 134 | |
---|
| 135 | // Bias derivative |
---|
| 136 | dBHat.x = kb[0]->Value() * alpha.x; |
---|
| 137 | dBHat.y = kb[1]->Value() * alpha.y; |
---|
| 138 | dBHat.z = kb[2]->Value() * alpha.z; |
---|
| 139 | |
---|
| 140 | // Bias integration |
---|
| 141 | BHat = BHat+dBHat*delta_t; |
---|
| 142 | |
---|
| 143 | // Quaternion derivative: dQHat = 0.5*(QHat*Q_corr) |
---|
| 144 | // Q_corr: Corrected pure rotation quaternion for integration |
---|
| 145 | dQHat=QHat.GetDerivative(omegaHat - alpha); |
---|
| 146 | |
---|
| 147 | // Quaternion integration |
---|
| 148 | QHat = QHat +dQHat*delta_t; // delta_t: sampling period [s] |
---|
| 149 | |
---|
| 150 | QHat.Normalize(); |
---|
| 151 | |
---|
| 152 | ahrsData->SetQuaternionAndAngularRates(QHat,rawGyr - BHat); |
---|
| 153 | |
---|
[223] | 154 | } |
---|
[24] | 155 | |
---|
| 156 | ahrsData->SetDataTime(data->DataTime()); |
---|
| 157 | ProcessUpdate(ahrsData); |
---|
| 158 | } |
---|
| 159 | |
---|
| 160 | } // end namespace filter |
---|
| 161 | } // end namespace flair |
---|