source: flair-src/trunk/lib/FlairFilter/src/AhrsComplementaryFilter.cpp @ 167

Last change on this file since 167 was 167, checked in by Sanahuja Guillaume, 5 years ago

modifs pour template vectors

File size: 4.9 KB
Line 
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>
22#include <GridLayout.h>
23#include <ImuData.h>
24#include <AhrsData.h>
25#include <math.h>
26
27#define G 9.81
28
29using std::string;
30using namespace flair::core;
31using namespace flair::gui;
32using namespace flair::sensor;
33
34namespace flair { namespace filter {
35
36AhrsComplementaryFilter::AhrsComplementaryFilter(const Imu* parent,string name): isInit(false), Ahrs(parent,name) {
37
38    QHat.q0=1;
39    QHat.q1=0;
40    QHat.q2=0;
41    QHat.q3=0;
42    BHat.x=0;
43    BHat.y=0;
44    BHat.z=0;
45
46    ka[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"ka[0]:",0.,10,0.1,2,0.5);
47    ka[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"ka[1]:",0.,10,0.1,2,0.5);
48    ka[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"ka[2]:",0.,10.,0.1,2,0.);
49
50    kb[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"kb[0]:",0.,10,0.1,2,0.01);
51    kb[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[1]:",0.,10,0.1,2,0.01);
52    kb[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[2]:",0.,10,0.1,2,0.01);
53 
54  SetIsReady(true);
55}
56
57AhrsComplementaryFilter::~AhrsComplementaryFilter() {
58
59}
60
61void AhrsComplementaryFilter::UpdateFrom(const io_data *data) {
62    ImuData *input=(ImuData*)data;
63    float delta_t;
64    AhrsData* ahrsData;
65    GetDatas(&ahrsData);
66    Vector3Df rawAcc,rawMag,rawGyr;
67    input->GetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
68
69    delta_t=(float)(data->DataTime()-previous_time)/1000000000.;
70    previous_time=data->DataTime();
71
72    Vector3Df aBar,aHat,aTilde;
73    Vector3Df mBar,mHat,mTilde;
74    Vector3Df alpha,dBHat,omegaHat;
75    Quaternion dQHat;
76
77    //float ka[3]={0.5,0.5,0};
78    //float kb[3]={0.01,0.01,0.01};
79    float k_m[3]= {0,0,0};
80
81    if(isInit==true) {
82        // CORRECTION FORM ACCELEROMETER
83        aBar = rawAcc;
84
85        // estimation of IMU vector using QHat (estimated quaternion): aHat = Inv(QHat) * g
86        /*
87          Inv(QHat) = [q0 -q1 -q2 -q3]'
88          Inv(QHat)*g = [1-2(q2^2+q3^2)     2(q1q2+q0q3)     2(q1q3-q0q2)]     [0]
89                         [  2(q1q2-q0q3)   1-2(q1^2+q3^2))    2(q2q3+q0q1)]  *  [0]
90                         [  2(q1q3+q0q2)     2(q2q3-q0q1)   1-2(q1^2+q2^2)]     [g]
91        */
92        aHat.x = -2*G*(QHat.q1*QHat.q3 - QHat.q0*QHat.q2);
93        aHat.y = -2*G*(QHat.q2*QHat.q3 + QHat.q0*QHat.q1);
94        aHat.z = -G*(1-2.0*(QHat.q1*QHat.q1 + QHat.q2*QHat.q2));
95
96        // cross(aHat, aBar)
97        aTilde=CrossProduct(aHat, aBar);
98
99        // CORRECTION FROM FICTIOUS MAGNETOMETER (to avoid drift of yaw)
100        // estimation of IMU vector using QHat (estimated quaternion): mHat = Inv(QHat) * m_ref = Inv(QHat) * [1.0, 0.0, 0.0]'
101        /*
102          Inv(QHat) = [q0 -q1 -q2 -q3]'
103          Inv(QHat)*g = [1-2(q2^2+q3^2)     2(q1q2+q0q3)     2(q1q3-q0q2)]     [1]
104                         [  2(q1q2-q0q3)   1-2(q1^2+q3^2))    2(q2q3+q0q1)]  *  [0]
105                         [  2(q1q3+q0q2)     2(q2q3-q0q1)   1-2(q1^2+q2^2)]     [0]
106        */
107        mBar.x=1;
108        mBar.y=0;
109        mBar.z=0;
110
111        mHat.x = (1-2.0*(QHat.q2*QHat.q2 + QHat.q3*QHat.q3));
112        mHat.y = 2.0*(QHat.q1*QHat.q2 - QHat.q0*QHat.q3);
113        mHat.z = 2.0*(QHat.q1*QHat.q3 + QHat.q0*QHat.q2);
114
115        // compute the error between mHat and mTilde
116        mTilde=CrossProduct(mHat, mBar);
117
118        // Compute the debiased rotation speed
119        omegaHat = rawGyr - BHat;
120
121        // calculate the correction to apply to the quaternion
122        alpha.x = (ka[0]->Value()*aTilde.x)/(G*G) + (k_m[0]*mTilde.x);
123        alpha.y = (ka[1]->Value()*aTilde.y)/(G*G) + (k_m[1]*mTilde.y);
124        alpha.z = (ka[2]->Value()*aTilde.z)/(G*G) + (k_m[2]*mTilde.z);
125
126        // Bias derivative
127        dBHat.x = kb[0]->Value() * alpha.x;
128        dBHat.y = kb[1]->Value() * alpha.y;
129        dBHat.z = kb[2]->Value() * alpha.z;
130
131        // Bias integration
132        BHat = BHat+dBHat*delta_t;
133
134        // Quaternion derivative: dQHat = 0.5*(QHat*Q_corr)
135        // Q_corr: Corrected pure rotation quaternion for integration
136        dQHat=QHat.GetDerivative(omegaHat - alpha);
137
138        // Quaternion integration
139        QHat = QHat +dQHat*delta_t;     // delta_t: sampling period [s]
140
141        QHat.Normalize();
142
143        ahrsData->SetQuaternionAndAngularRates(QHat,rawGyr - BHat);
144
145    } else {
146        isInit=true;
147    }
148
149    ahrsData->SetDataTime(data->DataTime());
150    ProcessUpdate(ahrsData);
151}
152
153} // end namespace filter
154} // end namespace flair
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