87 lines
2.5 KiB
C
87 lines
2.5 KiB
C
|
/*
|
||
|
* Copyright (C) 2011 The Android Open Source Project
|
||
|
*
|
||
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
* you may not use this file except in compliance with the License.
|
||
|
* You may obtain a copy of the License at
|
||
|
*
|
||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
*
|
||
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
* See the License for the specific language governing permissions and
|
||
|
* limitations under the License.
|
||
|
*/
|
||
|
|
||
|
#ifndef ANDROID_FUSION_H
|
||
|
#define ANDROID_FUSION_H
|
||
|
|
||
|
#include <utils/Errors.h>
|
||
|
|
||
|
#include "vec.h"
|
||
|
#include "mat.h"
|
||
|
|
||
|
namespace android {
|
||
|
|
||
|
class Fusion {
|
||
|
/*
|
||
|
* the state vector is made of two sub-vector containing respectively:
|
||
|
* - modified Rodrigues parameters
|
||
|
* - the estimated gyro bias
|
||
|
*/
|
||
|
vec<vec3_t, 2> x;
|
||
|
|
||
|
/*
|
||
|
* the predicated covariance matrix is made of 4 3x3 sub-matrices and it
|
||
|
* semi-definite positive.
|
||
|
*
|
||
|
* P = | P00 P10 | = | P00 P10 |
|
||
|
* | P01 P11 | | P10t Q1 |
|
||
|
*
|
||
|
* Since P01 = transpose(P10), the code below never calculates or
|
||
|
* stores P01. P11 is always equal to Q1, so we don't store it either.
|
||
|
*/
|
||
|
mat<mat33_t, 2, 2> P;
|
||
|
|
||
|
/*
|
||
|
* the process noise covariance matrix is made of 2 3x3 sub-matrices
|
||
|
* Q0 encodes the attitude's noise
|
||
|
* Q1 encodes the bias' noise
|
||
|
*/
|
||
|
vec<mat33_t, 2> Q;
|
||
|
|
||
|
static const float gyroSTDEV = 1.0e-5; // rad/s (measured 1.2e-5)
|
||
|
static const float accSTDEV = 0.05f; // m/s^2 (measured 0.08 / CDD 0.05)
|
||
|
static const float magSTDEV = 0.5f; // uT (measured 0.7 / CDD 0.5)
|
||
|
static const float biasSTDEV = 2e-9; // rad/s^2 (guessed)
|
||
|
|
||
|
public:
|
||
|
Fusion();
|
||
|
void init();
|
||
|
void handleGyro(const vec3_t& w, float dT);
|
||
|
status_t handleAcc(const vec3_t& a);
|
||
|
status_t handleMag(const vec3_t& m);
|
||
|
vec3_t getAttitude() const;
|
||
|
vec3_t getBias() const;
|
||
|
mat33_t getRotationMatrix() const;
|
||
|
bool hasEstimate() const;
|
||
|
|
||
|
private:
|
||
|
vec3_t Ba, Bm;
|
||
|
uint32_t mInitState;
|
||
|
vec<vec3_t, 3> mData;
|
||
|
size_t mCount[3];
|
||
|
enum { ACC=0x1, MAG=0x2, GYRO=0x4 };
|
||
|
bool checkInitComplete(int, const vec3_t&);
|
||
|
bool checkState(const vec3_t& v);
|
||
|
void predict(const vec3_t& w);
|
||
|
void update(const vec3_t& z, const vec3_t& Bi, float sigma);
|
||
|
static mat33_t getF(const vec3_t& p);
|
||
|
static mat33_t getdFdp(const vec3_t& p, const vec3_t& we);
|
||
|
};
|
||
|
|
||
|
}; // namespace android
|
||
|
|
||
|
#endif // ANDROID_FUSION_H
|