1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 |
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6 | // created: 2014/04/28
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7 | // filename: AhrsComplementaryFilter.cpp
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8 | //
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9 | // authors: Augustin Manecy (RT-MaG Toolbox author, augustin.manecy@gmail.com)
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10 | // API changes by Guillaume Sanahuja to fit the Flair framework
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11 | //
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12 | // version: $Id: $
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13 | //
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14 | // purpose: Class defining an Ahrs complementary filter
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15 | //
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16 | //
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17 | /*********************************************************************/
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18 |
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19 | #include "AhrsComplementaryFilter.h"
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20 | #include <Imu.h>
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21 | #include <DoubleSpinBox.h>
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22 | #include <GridLayout.h>
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23 | #include <ImuData.h>
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24 | #include <AhrsData.h>
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25 | #include <math.h>
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26 |
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27 | #define G 9.81
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28 |
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29 | using std::string;
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30 | using namespace flair::core;
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31 | using namespace flair::gui;
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32 | using namespace flair::sensor;
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33 |
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34 | namespace flair { namespace filter {
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35 |
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36 | AhrsComplementaryFilter::AhrsComplementaryFilter(const Imu* parent,string name): isInit(false), Ahrs(parent,name) {
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37 |
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38 | QHat.q0=1;
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39 | QHat.q1=0;
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40 | QHat.q2=0;
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41 | QHat.q3=0;
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42 | BHat.x=0;
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43 | BHat.y=0;
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44 | BHat.z=0;
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45 |
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46 | ka[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"ka[0]:",0.,10,0.1,2,0.5);
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47 | ka[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"ka[1]:",0.,10,0.1,2,0.5);
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48 | ka[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"ka[2]:",0.,10.,0.1,2,0.);
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49 |
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50 | kb[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"kb[0]:",0.,10,0.1,2,0.01);
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51 | kb[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[1]:",0.,10,0.1,2,0.01);
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52 | kb[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"kb[2]:",0.,10,0.1,2,0.01);
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53 |
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54 | km[0]=new DoubleSpinBox(parent->GetLayout()->NewRow(),"km[0]:",0.,10,0.1,2,0.01);
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55 | km[1]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"km[1]:",0.,10,0.1,2,0.01);
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56 | km[2]=new DoubleSpinBox(parent->GetLayout()->LastRowLastCol(),"km[2]:",0.,10,0.1,2,0.01);
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57 |
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58 | SetIsReady(true);
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59 | }
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60 |
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61 | AhrsComplementaryFilter::~AhrsComplementaryFilter() {
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62 |
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63 | }
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64 |
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65 | void AhrsComplementaryFilter::UpdateFrom(const io_data *data) {
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66 | ImuData *input=(ImuData*)data;
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67 | float delta_t;
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68 | AhrsData* ahrsData;
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69 | GetDatas(&ahrsData);
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70 | Vector3Df rawAcc,rawMag,rawGyr;
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71 | input->GetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
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72 |
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73 | delta_t=(float)(data->DataTime()-previous_time)/1000000000.;
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74 | previous_time=data->DataTime();
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75 |
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76 | Vector3Df aBar,aHat,aTilde;
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77 | Vector3Df mBar,mHat,mTilde;
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78 | Vector3Df alpha,dBHat,omegaHat,magRef;
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79 | Quaternion dQHat;
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80 |
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81 | //float ka[3]={0.5,0.5,0};
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82 | //float kb[3]={0.01,0.01,0.01};
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83 | //float k_m[3]= {0,0,0};
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84 | magRef.x=20.8296;
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85 | magRef.y=.2095;
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86 | magRef.z=43.3333;
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87 |
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88 | if(isInit==true) {
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89 | // CORRECTION FROM ACCELEROMETER
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90 | aBar = rawAcc;
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91 |
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92 | // estimation of IMU vector using QHat (estimated quaternion): aHat = Inv(QHat) * g
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93 | /*
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94 | Inv(QHat) = [q0 -q1 -q2 -q3]'
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95 | Inv(QHat)*g = [1-2(q2^2+q3^2) 2(q1q2+q0q3) 2(q1q3-q0q2)] [0]
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96 | [ 2(q1q2-q0q3) 1-2(q1^2+q3^2)) 2(q2q3+q0q1)] * [0]
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97 | [ 2(q1q3+q0q2) 2(q2q3-q0q1) 1-2(q1^2+q2^2)] [g]
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98 | */
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99 | aHat.x = -2*G*(QHat.q1*QHat.q3 - QHat.q0*QHat.q2);
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100 | aHat.y = -2*G*(QHat.q2*QHat.q3 + QHat.q0*QHat.q1);
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101 | aHat.z = -G*(1-2.0*(QHat.q1*QHat.q1 + QHat.q2*QHat.q2));
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102 |
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103 | // cross(aHat, aBar)
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104 | aTilde=CrossProduct(aHat, aBar);
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105 |
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106 |
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107 | // CORRECTION FROM MAGNETOMETER
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108 | // estimation of IMU vector using QHat (estimated quaternion): mHat = Inv(QHat) * m_ref = Inv(QHat) * magRef
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109 | /*
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110 | Inv(QHat) = [q0 -q1 -q2 -q3]'
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111 | Inv(QHat)*g = [1-2(q2^2+q3^2) 2(q1q2+q0q3) 2(q1q3-q0q2)] [magRef.x]
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112 | [ 2(q1q2-q0q3) 1-2(q1^2+q3^2)) 2(q2q3+q0q1)] * [magRef.x]
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113 | [ 2(q1q3+q0q2) 2(q2q3-q0q1) 1-2(q1^2+q2^2)] [magRef.x]
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114 | */
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115 | mBar=rawMag;
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116 |
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117 | 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;
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118 | 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;
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119 | 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;
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120 |
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121 |
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122 | // compute the error between mHat and mTilde
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123 | mTilde=CrossProduct(mHat, mBar);
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124 |
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125 | // Compute the debiased rotation speed
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126 | omegaHat = rawGyr - BHat;
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127 |
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128 | // calculate the correction to apply to the quaternion
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129 | alpha.x = (ka[0]->Value()*aTilde.x)/(G*G) + (km[0]->Value()*mTilde.x)/(magRef.GetNorm()*magRef.GetNorm());
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130 | alpha.y = (ka[1]->Value()*aTilde.y)/(G*G) + (km[1]->Value()*mTilde.y)/(magRef.GetNorm()*magRef.GetNorm());
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131 | alpha.z = (ka[2]->Value()*aTilde.z)/(G*G) + (km[2]->Value()*mTilde.z)/(magRef.GetNorm()*magRef.GetNorm());
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132 |
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133 | // Bias derivative
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134 | dBHat.x = kb[0]->Value() * alpha.x;
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135 | dBHat.y = kb[1]->Value() * alpha.y;
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136 | dBHat.z = kb[2]->Value() * alpha.z;
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137 |
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138 | // Bias integration
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139 | BHat = BHat+dBHat*delta_t;
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140 |
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141 | // Quaternion derivative: dQHat = 0.5*(QHat*Q_corr)
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142 | // Q_corr: Corrected pure rotation quaternion for integration
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143 | dQHat=QHat.GetDerivative(omegaHat - alpha);
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144 |
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145 | // Quaternion integration
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146 | QHat = QHat +dQHat*delta_t; // delta_t: sampling period [s]
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147 |
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148 | QHat.Normalize();
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149 |
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150 | ahrsData->SetQuaternionAndAngularRates(QHat,rawGyr - BHat);
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151 |
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152 | } else {
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153 | isInit=true;
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154 | }
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155 |
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156 | ahrsData->SetDataTime(data->DataTime());
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157 | ProcessUpdate(ahrsData);
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158 | }
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159 |
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160 | } // end namespace filter
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161 | } // end namespace flair
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