CalcUpdate Calculates the update for an individual sensor definition.
153 GpsMeasurementType* meas =
static_cast<GpsMeasurementType*
>(measurement.get());
160 GpsSensorStateType prior_sensor_state(prior_sensor_data->state_);
164 Eigen::MatrixXd R_meas_dyn;
167 meas->get_meas_noise(&R_meas_dyn);
171 R_meas_dyn = this->
R_.asDiagonal();
173 const Eigen::Matrix<double, 3, 3> R_meas = R_meas_dyn;
176 const int size_of_sensor_state = prior_sensor_state.cov_size_;
177 const int size_of_full_error_state = size_of_core_state + size_of_sensor_state;
178 const Eigen::MatrixXd P = prior_cov;
179 assert(P.size() == size_of_full_error_state * size_of_full_error_state);
183 const Eigen::Vector3d P_wi = prior_core_state.p_wi_;
184 const Eigen::Matrix3d R_wi = prior_core_state.q_wi_.toRotationMatrix();
185 const Eigen::Vector3d P_ig = prior_sensor_state.p_ig_;
187 const Eigen::Vector3d P_gw_w = prior_sensor_state.p_gw_w_;
188 const Eigen::Matrix3d R_gw_w = prior_sensor_state.q_gw_w_.toRotationMatrix();
191 const Eigen::Matrix3d Hp_pwi = R_gw_w;
192 const Eigen::Matrix3d Hp_vwi = Eigen::Matrix3d::Zero();
193 const Eigen::Matrix3d Hp_rwi = -R_gw_w * R_wi *
Utils::Skew(P_ig);
194 const Eigen::Matrix3d Hp_bw = Eigen::Matrix3d::Zero();
195 const Eigen::Matrix3d Hp_ba = Eigen::Matrix3d::Zero();
197 const Eigen::Matrix3d Hp_pig = R_gw_w * R_wi;
198 const Eigen::Matrix3d Hp_pgw_w = Eigen::Matrix3d::Zero();
199 const Eigen::Matrix3d Hp_rgw_w = Eigen::Matrix3d::Zero();
203 Eigen::MatrixXd H(3, Hp_pwi.cols() + Hp_vwi.cols() + Hp_rwi.cols() + Hp_bw.cols() + Hp_ba.cols() + Hp_pig.cols() +
204 Hp_pgw_w.cols() + Hp_rgw_w.cols());
206 H << Hp_pwi, Hp_vwi, Hp_rwi, Hp_bw, Hp_ba, Hp_pig, Hp_pgw_w, Hp_rgw_w;
210 const Eigen::Vector3d p_est = P_gw_w + R_gw_w * (P_wi + R_wi * P_ig);
211 residual_ = Eigen::MatrixXd(p_est.rows(), 1);
216 const Eigen::MatrixXd correction = ekf.CalculateCorrection(&
chi2_);
217 assert(correction.size() == size_of_full_error_state * 1);
226 Eigen::MatrixXd P_updated = ekf.CalculateCovUpdate();
227 assert(P_updated.size() == size_of_full_error_state * size_of_full_error_state);
235 const Eigen::MatrixXd sensor_correction = correction.block(size_of_core_state, 0, size_of_sensor_state, 1);
236 const GpsSensorStateType corrected_sensor_state =
ApplyCorrection(prior_sensor_state, sensor_correction);
242 core_data.state_ = corrected_core_state;
245 std::shared_ptr<GpsSensorData> sensor_data(std::make_shared<GpsSensorData>());
246 sensor_data->set_cov(P_updated);
247 sensor_data->state_ = corrected_sensor_state;
249 BufferDataType state_entry(std::make_shared<CoreType>(core_data), sensor_data);
260 *new_state_data = state_entry;
bool passed_
Determine if the test is performed or not.
Definition: ekf.h:84
bool do_test_
Upper critival value.
Definition: ekf.h:83
void PrintReport(const std::string &name)
PrintReport Print a formated report e.g. if the test did not pass.
static constexpr int size_error_
Definition: core_state_type.h:38
static CoreStateType ApplyCorrection(CoreStateType state_prior, Eigen::Matrix< double, CoreStateType::size_error_, 1 > correction)
ApplyCorrection.
Definition: core_state_type.h:46
Eigen::Matrix< double, 3, 1 > get_enu(mars::GpsCoordinates coordinates)
get_enu get current GPS reference coordinates
GpsSensorStateType ApplyCorrection(const GpsSensorStateType &prior_sensor_state, const Eigen::MatrixXd &correction)
Definition: gps_sensor_class.h:265
bool use_dynamic_meas_noise_
True if dynamic noise values from measurements should be used.
Definition: sensor_abs_class.h:29
Eigen::VectorXd R_
Measurement noise "squared".
Definition: update_sensor_abs_class.h:32
Eigen::MatrixXd residual_
Definition: update_sensor_abs_class.h:31
static Eigen::MatrixXd EnforceMatrixSymmetry(const Eigen::Ref< const Eigen::MatrixXd > &mat_in)
EnforceMatrixSymmetry.
static Eigen::Matrix3d Skew(const Eigen::Vector3d &v)
skew generate the skew symmetric matrix of v
Eigen::Matrix< double, CoreStateType::size_error_, 1 > CoreStateVector
Definition: core_state_type.h:135