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yaw emergency: check angle between vel observation and estimate (#975) 

use thresholds based on state and obs variance

* [AUTO COMMIT] update change indication
master
Mathieu Bresciani 4 years ago committed by GitHub
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3 changed files with 59 additions and 49 deletions
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  1. 39
      EKF/control.cpp
  2. 1
      EKF/ekf.h
  3. 68
      test/change_indication/ekf_gsf_reset.csv

39
EKF/control.cpp
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@ -306,7 +306,6 @@ void Ekf::controlExternalVisionFusion() @@ -306,7 +306,6 @@ void Ekf::controlExternalVisionFusion()
// determine if we should use the velocity observations
if (_control_status.flags.ev_vel) {
Vector3f ev_vel_obs_var;
Vector2f ev_vel_innov_gates;
_last_vel_obs = getVisionVelocityInEkfFrame();
@ -321,12 +320,12 @@ void Ekf::controlExternalVisionFusion() @@ -321,12 +320,12 @@ void Ekf::controlExternalVisionFusion()
}
}
ev_vel_obs_var = matrix::max(getVisionVelocityVarianceInEkfFrame(), sq(0.05f));
_last_vel_obs_var = matrix::max(getVisionVelocityVarianceInEkfFrame(), sq(0.05f));
ev_vel_innov_gates.setAll(fmaxf(_params.ev_vel_innov_gate, 1.0f));
fuseHorizontalVelocity(_ev_vel_innov, ev_vel_innov_gates,ev_vel_obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
fuseVerticalVelocity(_ev_vel_innov, ev_vel_innov_gates, ev_vel_obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
fuseHorizontalVelocity(_ev_vel_innov, ev_vel_innov_gates,_last_vel_obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
fuseVerticalVelocity(_ev_vel_innov, ev_vel_innov_gates, _last_vel_obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
}
// determine if we should use the yaw observation
@ -617,12 +616,22 @@ void Ekf::controlGpsFusion() @@ -617,12 +616,22 @@ void Ekf::controlGpsFusion()
bool is_yaw_failure = false;
if ((recent_takeoff_nav_failure || inflight_nav_failure) && _time_last_hor_vel_fuse > 0) {
// Do sanity check to see if the innovation failures is likely caused by a yaw angle error
// A 180 deg yaw error would (in the absence of other errors) generate a velocity innovation
// magnitude of twice the measured speed so allow up to 3 times to allow for additional errors.
const float hvel_obs_sq = sq(_last_vel_obs(0)) + sq(_last_vel_obs(1));
const float hvel_innov_sq = sq(_last_fail_hvel_innov(0)) + sq(_last_fail_hvel_innov(1));
if (hvel_innov_sq > 9.0f * hvel_obs_sq) {
is_yaw_failure = true;
// by measuring the angle between the velocity estimate and the last velocity observation
// Only use those vectors if their norm if they are larger than 4 times their noise standard deviation
const float vel_obs_xy_norm_sq = _last_vel_obs.xy().norm_squared();
const float vel_state_xy_norm_sq = _state.vel.xy().norm_squared();
const float vel_obs_threshold_sq = fmaxf(sq(4.f) * (_last_vel_obs_var(0) + _last_vel_obs_var(1)), 1.f);
const float vel_state_threshold_sq = fmaxf(sq(4.f) * (P(4, 4) + P(5, 5)), 1.f);
if (vel_obs_xy_norm_sq > vel_obs_threshold_sq && vel_state_xy_norm_sq > vel_state_threshold_sq) {
const float obs_dot_vel = Vector2f(_last_vel_obs).dot(_state.vel.xy());
const float cos_sq = sq(obs_dot_vel) / (vel_state_xy_norm_sq * vel_obs_xy_norm_sq);
if (cos_sq < sq(cosf(math::radians(25.f))) || obs_dot_vel < 0.f) {
// The angle between the observation and the velocity estimate is greater than 25 degrees
is_yaw_failure = true;
}
}
}
@ -669,7 +678,6 @@ void Ekf::controlGpsFusion() @@ -669,7 +678,6 @@ void Ekf::controlGpsFusion()
Vector2f gps_vel_innov_gates; // [horizontal vertical]
Vector2f gps_pos_innov_gates; // [horizontal vertical]
Vector3f gps_vel_obs_var;
Vector3f gps_pos_obs_var;
// correct velocity for offset relative to IMU
@ -697,8 +705,8 @@ void Ekf::controlGpsFusion() @@ -697,8 +705,8 @@ void Ekf::controlGpsFusion()
gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit));
}
gps_vel_obs_var.setAll(sq(fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise)));
gps_vel_obs_var(2) = sq(1.5f) * gps_vel_obs_var(2);
_last_vel_obs_var.setAll(sq(fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise)));
_last_vel_obs_var(2) *= sq(1.5f);
// calculate innovations
_last_vel_obs = _gps_sample_delayed.vel;
@ -710,8 +718,8 @@ void Ekf::controlGpsFusion() @@ -710,8 +718,8 @@ void Ekf::controlGpsFusion()
gps_vel_innov_gates(0) = gps_vel_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
// fuse GPS measurement
fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates,gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseVerticalVelocity(_gps_vel_innov, gps_vel_innov_gates, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates, _last_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseVerticalVelocity(_gps_vel_innov, gps_vel_innov_gates, _last_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseHorizontalPosition(_gps_pos_innov, gps_pos_innov_gates, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
}
@ -1329,6 +1337,7 @@ void Ekf::controlAuxVelFusion() @@ -1329,6 +1337,7 @@ void Ekf::controlAuxVelFusion()
_last_vel_obs = _auxvel_sample_delayed.vel;
_aux_vel_innov = _state.vel - _last_vel_obs;
_last_vel_obs_var = _aux_vel_innov_var;
fuseHorizontalVelocity(_aux_vel_innov, aux_vel_innov_gate, _auxvel_sample_delayed.velVar,
_aux_vel_innov_var, _aux_vel_test_ratio);

1
EKF/ekf.h
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@ -391,6 +391,7 @@ private: @@ -391,6 +391,7 @@ private:
Vector3f _delta_angle_bias_var_accum; ///< kahan summation algorithm accumulator for delta angle bias variance
Vector3f _last_vel_obs; ///< last velocity observation (m/s)
Vector3f _last_vel_obs_var; ///< last velocity observation variance (m/s)**2
Vector2f _last_fail_hvel_innov; ///< last failed horizontal velocity innovation (m/s)**2
float _vert_pos_innov_ratio; ///< vertical position innovation divided by estimated standard deviation of innovation
uint64_t _vert_pos_fuse_attempt_time_us; ///< last system time in usec vertical position measurement fuson was attempted

68
test/change_indication/ekf_gsf_reset.csv
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@ -355,37 +355,37 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 @@ -355,37 +355,37 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
355 35285000 -0.678576 -0.0118396 -0.00372067 0.734425 0.586705 0.458913 -0.184756 -16.6714 -8.02377 -365.532 -1.50851e-05 -6.21838e-05 -1.24625e-05 -0.000280347 0.000300603 -0.000780425 0.211925 0.00188821 0.429307 -0.000499536 -0.000496582 0.00253785 0 0 7.08772e-05 1.24128e-05 1.21991e-05 6.45968e-05 0.039268 0.0402914 0.0419773 0.454924 0.45557 0.0741527 5.28758e-11 5.03097e-11 3.38459e-10 2.8123e-07 2.88008e-07 1.02643e-06 5.15545e-05 1.16746e-05 0.000460541 2.79373e-05 3.81541e-05 0.000460213 0 0
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