You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
288 lines
10 KiB
288 lines
10 KiB
/**************************************************************************** |
|
* |
|
* Copyright (c) 2019-2020 ECL Development Team. All rights reserved. |
|
* |
|
* Redistribution and use in source and binary forms, with or without |
|
* modification, are permitted provided that the following conditions |
|
* are met: |
|
* |
|
* 1. Redistributions of source code must retain the above copyright |
|
* notice, this list of conditions and the following disclaimer. |
|
* 2. Redistributions in binary form must reproduce the above copyright |
|
* notice, this list of conditions and the following disclaimer in |
|
* the documentation and/or other materials provided with the |
|
* distribution. |
|
* 3. Neither the name PX4 nor the names of its contributors may be |
|
* used to endorse or promote products derived from this software |
|
* without specific prior written permission. |
|
* |
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
* POSSIBILITY OF SUCH DAMAGE. |
|
* |
|
****************************************************************************/ |
|
|
|
#include <chrono> |
|
#include <gtest/gtest.h> |
|
#include <math.h> |
|
#include <memory> |
|
#include "EKF/ekf.h" |
|
#include "sensor_simulator/sensor_simulator.h" |
|
#include "sensor_simulator/ekf_wrapper.h" |
|
|
|
class EkfBasicsTest : public ::testing::Test { |
|
public: |
|
EkfBasicsTest(): |
|
::testing::Test(), |
|
_ekf{std::make_shared<Ekf>()}, |
|
_ekf_wrapper(_ekf) , |
|
_sensor_simulator(_ekf) |
|
{ |
|
}; |
|
|
|
// Setup the Ekf with synthetic measurements |
|
void SetUp() override |
|
{ |
|
_ekf->init(0); |
|
_sensor_simulator.runSeconds(_init_duration_s); |
|
} |
|
|
|
// Use this method to clean up any memory, network etc. after each test |
|
void TearDown() override |
|
{ |
|
} |
|
|
|
std::shared_ptr<Ekf> _ekf {nullptr}; |
|
EkfWrapper _ekf_wrapper; |
|
SensorSimulator _sensor_simulator; |
|
|
|
// Duration of initalization with only providing baro,mag and IMU |
|
const uint32_t _init_duration_s{4}; |
|
|
|
protected: |
|
double _latitude {0.0}; |
|
double _longitude {0.0}; |
|
float _altitude {0.f}; |
|
|
|
double _latitude_new {0.0}; |
|
double _longitude_new {0.0}; |
|
float _altitude_new {0.f}; |
|
|
|
uint64_t _origin_time = 0; |
|
|
|
private: |
|
|
|
}; |
|
|
|
|
|
TEST_F(EkfBasicsTest, tiltAlign) |
|
{ |
|
// GIVEN: reasonable static sensor data for some duration |
|
// THEN: EKF should tilt align |
|
EXPECT_TRUE(_ekf->attitude_valid()); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, initialControlMode) |
|
{ |
|
// GIVEN: reasonable static sensor data for some duration |
|
// THEN: EKF control status should be reasonable |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().tilt_align); |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().yaw_align); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().gps); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow); |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().wind); |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_hgt); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_hgt); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_pos); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_yaw); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_hgt); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().fuse_beta); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_field_disturbed); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().fixed_wing); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, convergesToZero) |
|
{ |
|
// GIVEN: initialized EKF with default IMU, baro and mag input |
|
_sensor_simulator.runSeconds(4); |
|
|
|
const Vector3f pos = _ekf->getPosition(); |
|
const Vector3f vel = _ekf->getVelocity(); |
|
const Vector3f accel_bias = _ekf->getAccelBias(); |
|
const Vector3f gyro_bias = _ekf->getGyroBias(); |
|
const Vector3f ref{0.0f, 0.0f, 0.0f}; |
|
|
|
// THEN: EKF should stay or converge to zero |
|
EXPECT_TRUE(matrix::isEqual(pos, ref, 0.001f)); |
|
EXPECT_TRUE(matrix::isEqual(vel, ref, 0.001f)); |
|
EXPECT_TRUE(matrix::isEqual(accel_bias, ref, 0.001f)); |
|
EXPECT_TRUE(matrix::isEqual(gyro_bias, ref, 0.001f)); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, gpsFusion) |
|
{ |
|
// GIVEN: initialized EKF with default IMU, baro and mag input for |
|
// WHEN: setting GPS measurements for 11s, minimum GPS health time is set to 10 sec |
|
|
|
_sensor_simulator.startGps(); |
|
_sensor_simulator.runSeconds(11); |
|
|
|
// THEN: EKF should fuse GPS, but no other position sensor |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().tilt_align); |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().yaw_align); |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().gps); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow); |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().wind); |
|
EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_hgt); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_hgt); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_pos); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_yaw); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_hgt); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().fuse_beta); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_field_disturbed); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().fixed_wing); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_fault); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().gnd_effect); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().rng_stuck); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().gps_yaw); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_aligned_in_flight); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().ev_vel); |
|
EXPECT_EQ(0, (int) _ekf->control_status_flags().synthetic_mag_z); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, accelBiasEstimation) |
|
{ |
|
// GIVEN: initialized EKF with default IMU, baro and mag input |
|
// WHEN: Added more sensor measurements with accel bias and gps measurements |
|
const Vector3f accel_bias_sim = {0.0f,0.0f,0.1f}; |
|
|
|
_sensor_simulator.startGps(); |
|
_sensor_simulator.setImuBias(accel_bias_sim, Vector3f(0.0f,0.0f,0.0f)); |
|
_ekf->set_min_required_gps_health_time(1e6); |
|
_sensor_simulator.runSeconds(30); |
|
|
|
const Vector3f pos = _ekf->getPosition(); |
|
const Vector3f vel = _ekf->getVelocity(); |
|
const Vector3f accel_bias = _ekf->getAccelBias(); |
|
const Vector3f gyro_bias = _ekf->getGyroBias(); |
|
const Vector3f zero = {0.0f, 0.0f, 0.0f}; |
|
|
|
// THEN: EKF should stay or converge to zero |
|
EXPECT_TRUE(matrix::isEqual(pos, zero, 0.05f)) |
|
<< "pos = " << pos(0) << ", " << pos(1) << ", " << pos(2); |
|
EXPECT_TRUE(matrix::isEqual(vel, zero, 0.02f)) |
|
<< "vel = " << vel(0) << ", " << vel(1) << ", " << vel(2); |
|
EXPECT_TRUE(matrix::isEqual(accel_bias, accel_bias_sim, 0.01f)) |
|
<< "accel_bias = " << accel_bias(0) << ", " << accel_bias(1) << ", " << accel_bias(2); |
|
EXPECT_TRUE(matrix::isEqual(gyro_bias, zero, 0.001f)) |
|
<< "gyro_bias = " << gyro_bias(0) << ", " << gyro_bias(1) << ", " << gyro_bias(2); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_initialized) |
|
{ |
|
_latitude_new = 15.0000005; |
|
_longitude_new = 115.0000005; |
|
_altitude_new = 100.0; |
|
|
|
_sensor_simulator.startGps(); |
|
_ekf->set_min_required_gps_health_time(1e6); |
|
_sensor_simulator.runSeconds(1); |
|
|
|
_sensor_simulator.setGpsLatitude(_latitude_new); |
|
_sensor_simulator.setGpsLongitude(_longitude_new); |
|
_sensor_simulator.setGpsAltitude(_altitude_new); |
|
_sensor_simulator.runSeconds(2); |
|
|
|
_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude); |
|
|
|
EXPECT_DOUBLE_EQ(_latitude, _latitude_new); |
|
EXPECT_DOUBLE_EQ(_longitude, _longitude_new); |
|
EXPECT_NEAR(_altitude, _altitude_new, 0.01f); |
|
|
|
_latitude_new = -15.0000005; |
|
_longitude_new = -115.0000005; |
|
_altitude_new = 1500.0; |
|
|
|
_ekf->setEkfGlobalOrigin(_latitude_new, _longitude_new, _altitude_new); |
|
_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude); |
|
|
|
EXPECT_DOUBLE_EQ(_latitude, _latitude_new); |
|
EXPECT_DOUBLE_EQ(_longitude, _longitude_new); |
|
EXPECT_FLOAT_EQ(_altitude, _altitude_new); |
|
|
|
float hpos = 0.f; |
|
float vpos = 0.f; |
|
float hvel = 0.f; |
|
float vvel = 0.f; |
|
|
|
// After the change of origin, the pos and vel innovations should stay small |
|
_ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos); |
|
|
|
EXPECT_NEAR(hpos, 0.f, 0.05f); |
|
EXPECT_NEAR(vpos, 0.f, 0.05f); |
|
|
|
EXPECT_NEAR(hvel, 0.f, 0.02f); |
|
EXPECT_NEAR(vvel, 0.f, 0.02f); |
|
} |
|
|
|
TEST_F(EkfBasicsTest, reset_ekf_global_origin_gps_uninitialized) |
|
{ |
|
_ekf->getEkfGlobalOrigin(_origin_time, _latitude_new, _longitude_new, _altitude_new); |
|
|
|
EXPECT_DOUBLE_EQ(_latitude, _latitude_new); |
|
EXPECT_DOUBLE_EQ(_longitude, _longitude_new); |
|
EXPECT_FLOAT_EQ(_altitude, _altitude_new); |
|
|
|
_latitude_new = 45.0000005; |
|
_longitude_new = 111.0000005; |
|
_altitude_new = 1500.0; |
|
|
|
_ekf->setEkfGlobalOrigin(_latitude_new, _longitude_new, _altitude_new); |
|
_ekf->getEkfGlobalOrigin(_origin_time, _latitude, _longitude, _altitude); |
|
|
|
EXPECT_DOUBLE_EQ(_latitude, _latitude_new); |
|
EXPECT_DOUBLE_EQ(_longitude, _longitude_new); |
|
EXPECT_FLOAT_EQ(_altitude, _altitude_new); |
|
|
|
float hpos = 0.f; |
|
float vpos = 0.f; |
|
float hvel = 0.f; |
|
float vvel = 0.f; |
|
|
|
// After the change of origin, the pos and vel innovations should stay small |
|
_ekf->getGpsVelPosInnovRatio(hvel, vvel, hpos, vpos); |
|
|
|
EXPECT_NEAR(hpos, 0.f, 0.05f); |
|
EXPECT_NEAR(vpos, 0.f, 0.05f); |
|
|
|
EXPECT_NEAR(hvel, 0.f, 0.02f); |
|
EXPECT_NEAR(vvel, 0.f, 0.02f); |
|
} |
|
|
|
// TODO: Add sampling tests
|
|
|