3301542828
also use correct time propagation equation disable the fused sensors when gyro is not present since they were unusable in practice. Change-Id: Iad797425784e67dc6c5690e97c71c583418cc5b5
86 lines
2.2 KiB
C++
86 lines
2.2 KiB
C++
/*
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* Copyright (C) 2011 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef ANDROID_FUSION_H
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#define ANDROID_FUSION_H
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#include <utils/Errors.h>
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#include "quat.h"
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#include "mat.h"
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#include "vec.h"
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namespace android {
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typedef mat<float, 3, 4> mat34_t;
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class Fusion {
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/*
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* the state vector is made of two sub-vector containing respectively:
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* - modified Rodrigues parameters
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* - the estimated gyro bias
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*/
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quat_t x0;
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vec3_t x1;
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/*
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* the predicated covariance matrix is made of 4 3x3 sub-matrices and it
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* semi-definite positive.
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*
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* P = | P00 P10 | = | P00 P10 |
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* | P01 P11 | | P10t P11 |
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*
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* Since P01 = transpose(P10), the code below never calculates or
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* stores P01.
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*/
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mat<mat33_t, 2, 2> P;
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/*
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* the process noise covariance matrix
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*/
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mat<mat33_t, 2, 2> GQGt;
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public:
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Fusion();
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void init();
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void handleGyro(const vec3_t& w, float dT);
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status_t handleAcc(const vec3_t& a);
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status_t handleMag(const vec3_t& m);
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vec4_t getAttitude() const;
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vec3_t getBias() const;
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mat33_t getRotationMatrix() const;
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bool hasEstimate() const;
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private:
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mat<mat33_t, 2, 2> Phi;
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vec3_t Ba, Bm;
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uint32_t mInitState;
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float mGyroRate;
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vec<vec3_t, 3> mData;
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size_t mCount[3];
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enum { ACC=0x1, MAG=0x2, GYRO=0x4 };
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bool checkInitComplete(int, const vec3_t& w, float d = 0);
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void initFusion(const vec4_t& q0, float dT);
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bool checkState(const vec3_t& v);
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void predict(const vec3_t& w, float dT);
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void update(const vec3_t& z, const vec3_t& Bi, float sigma);
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static mat34_t getF(const vec4_t& p);
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};
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}; // namespace android
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#endif // ANDROID_FUSION_H
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