working on imu test
Luca
parent
c20dd18ab7
commit
24157ca124
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@ -9,91 +9,98 @@ clear all
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close all
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%% Configuration
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useRealData = 0; % controls whether or not to use the Real data (is available) as the ground truth traj
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includeIMUFactors = 1; % if true, IMU type 1 Factors will be generated for the random trajectory
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includeCameraFactors = 0;
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trajectoryLength = 50;
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useRealData = 0; % controls whether or not to use the Real data (is available) as the ground truth traj
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includeIMUFactors = 1; % if true, IMU type 1 Factors will be generated for the random trajectory
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% includeCameraFactors = 0; % not implemented yet
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trajectoryLength = 2; % length of the ground truth trajectory
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deltaT = 1.0; % amount of time between IMU measurements
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vel = [0 0 0]; % initial velocity (used for generating IMU measurements
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g = [0; 0; 0]; % gravity
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omegaCoriolis = [0; 0; 0]; % Coriolis
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% Imu metadata
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%% Imu metadata
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epsBias = 1e-20;
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zeroBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1)); % bias is not of interest and is set to zero
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zeroBias = imuBias.ConstantBias(zeros(3,1), zeros(3,1));
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IMU_metadata.AccelerometerSigma = 1e-5;
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IMU_metadata.GyroscopeSigma = 1e-7;
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IMU_metadata.IntegrationSigma = 1e-10;
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IMU_metadata.BiasAccelerometerSigma = epsBias;
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IMU_metadata.BiasGyroscopeSigma = epsBias;
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IMU_metadata.BiasAccOmegaInit = epsBias;
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noiseVel = noiseModel.Isotropic.Sigma(3, 1e-10);
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noiseVel = noiseModel.Isotropic.Sigma(3, 0.1);
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noiseBias = noiseModel.Isotropic.Sigma(6, epsBias);
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%% Create ground truth trajectory
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unsmooth_DP = 0.5; % controls smoothness on translation norm
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unsmooth_DR = 0.1; % controls smoothness on rotation norm
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gtValues = Values;
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gtGraph = NonlinearFactorGraph;
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%% Between metadata
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if useRealData == 1
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sigma_ang = 1e-4;
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sigma_cart = 40;
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sigma_ang = 1e-4; sigma_cart = 40;
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else
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sigma_ang = 1e-2;
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sigma_cart = 0.1;
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sigma_ang = 1e-2; sigma_cart = 0.1;
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end
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noiseVectorPose = [sigma_ang; sigma_ang; sigma_ang; sigma_cart; sigma_cart; sigma_cart];
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noisePose = noiseModel.Diagonal.Sigmas(noiseVectorPose);
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if useRealData == 1
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%% Create a ground truth trajectory using scenario 2 data
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fprintf('\nUsing Scenario 2 ground truth data\n');
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% load scenario 2 ground truth data
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gtScenario2 = load('truth_scen2.mat', 'Lat', 'Lon', 'Alt', 'Roll', 'Pitch', 'Heading');
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% Add first pose
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currentPoseKey = symbol('x', 0);
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initialPosition = imuSimulator.LatLonHRad_to_ECEF([gtScenario2.Lat(1); gtScenario2.Lon(1); gtScenario2.Alt(1)]);
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initialRotation = [gtScenario2.Roll(1); gtScenario2.Pitch(1); gtScenario2.Heading(1)];
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currentPose = Pose3.Expmap([initialRotation; initialPosition]); % initial pose
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gtValues.insert(currentPoseKey, currentPose);
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gtGraph.add(PriorFactorPose3(currentPoseKey, currentPose, noisePose));
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prevPose = currentPose;
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% Limit the trajectory length
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trajectoryLength = min([length(gtScenario2.Lat) trajectoryLength]);
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for i=2:trajectoryLength
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currentPoseKey = symbol('x', i-1);
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gtECEF = imuSimulator.LatLonHRad_to_ECEF([gtScenario2.Lat(i); gtScenario2.Lon(i); gtScenario2.Alt(i)]);
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gtRotation = [gtScenario2.Roll(i); gtScenario2.Pitch(i); gtScenario2.Heading(i)];
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currentPose = Pose3.Expmap([gtRotation; gtECEF]);
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% Generate measurements as the current pose measured in the frame of
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% the previous pose
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deltaPose = prevPose.between(currentPose);
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gtDeltaMatrix(i-1,:) = Pose3.Logmap(deltaPose);
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prevPose = currentPose;
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% Add values
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gtValues.insert(currentPoseKey, currentPose);
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% Add the factor to the factor graph
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gtGraph.add(BetweenFactorPose3(currentPoseKey-1, currentPoseKey, deltaPose, noisePose));
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end
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else
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%% Create a random trajectory as ground truth
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fprintf('\nCreating a random ground truth trajectory\n');
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% Add priors
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currentPoseKey = symbol('x', 0);
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currentPose = Pose3; % initial pose
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gtValues.insert(currentPoseKey, currentPose);
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gtGraph.add(PriorFactorPose3(currentPoseKey, currentPose, noisePose));
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%% Create ground truth trajectory
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gtValues = Values;
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gtGraph = NonlinearFactorGraph;
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if useRealData == 1
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% % % %% Create a ground truth trajectory from Real data (if available)
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% % % fprintf('\nUsing real data as ground truth\n');
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% % % gtScenario2 = load('truth_scen2.mat', 'Lat', 'Lon', 'Alt', 'Roll', 'Pitch', 'Heading');
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% Time: [4201x1 double]
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% Lat: [4201x1 double]
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% Lon: [4201x1 double]
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% Alt: [4201x1 double]
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% VEast: [4201x1 double]
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% VNorth: [4201x1 double]
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% VUp: [4201x1 double]
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% Roll: [4201x1 double]
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% Pitch: [4201x1 double]
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% Heading
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% % %
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% % % % Add first pose
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% % % currentPoseKey = symbol('x', 0);
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% % % initialPosition = imuSimulator.LatLonHRad_to_ECEF([gtScenario2.Lat(1); gtScenario2.Lon(1); gtScenario2.Alt(1)]);
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% % % initialRotation = [gtScenario2.Roll(1); gtScenario2.Pitch(1); gtScenario2.Heading(1)];
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% % % currentPose = Pose3.Expmap([initialRotation; initialPosition]); % initial pose
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% % % gtValues.insert(currentPoseKey, currentPose);
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% % % gtGraph.add(PriorFactorPose3(currentPoseKey, currentPose, noisePose));
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% % % prevPose = currentPose;
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% % %
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% % % % Limit the trajectory length
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% % % trajectoryLength = min([length(gtScenario2.Lat) trajectoryLength]);
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% % %
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% % % for i=2:trajectoryLength
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% % % currentPoseKey = symbol('x', i-1);
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% % % gtECEF = imuSimulator.LatLonHRad_to_ECEF([gtScenario2.Lat(i); gtScenario2.Lon(i); gtScenario2.Alt(i)]);
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% % % gtRotation = [gtScenario2.Roll(i); gtScenario2.Pitch(i); gtScenario2.Heading(i)];
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% % % currentPose = Pose3.Expmap([gtRotation; gtECEF]);
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% % %
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% % % % Generate measurements as the current pose measured in the frame of
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% % % % the previous pose
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% % % deltaPose = prevPose.between(currentPose);
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% % % gtDeltaMatrix(i-1,:) = Pose3.Logmap(deltaPose);
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% % % prevPose = currentPose;
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% % %
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% % % % Add values
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% % % gtValues.insert(currentPoseKey, currentPose);
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% % %
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% % % % Add the factor to the factor graph
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% % % gtGraph.add(BetweenFactorPose3(currentPoseKey-1, currentPoseKey, deltaPose, noisePose));
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% % % end
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else
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%% Create a random trajectory as ground truth
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currentVel = [0 0 0]; % initial velocity (used to generate IMU measurements)
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currentPose = Pose3; % initial pose % initial pose
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deltaT = 1.0; % amount of time between IMU measurements
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g = [0; 0; 0]; % gravity
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omegaCoriolis = [0; 0; 0]; % Coriolis
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unsmooth_DP = 0.5; % controls smoothness on translation norm
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unsmooth_DR = 0.1; % controls smoothness on rotation norm
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fprintf('\nCreating a random ground truth trajectory\n');
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%% Add priors
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currentPoseKey = symbol('x', 0);
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gtValues.insert(currentPoseKey, currentPose);
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gtGraph.add(PriorFactorPose3(currentPoseKey, currentPose, noisePose));
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if includeIMUFactors == 1
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currentVelKey = symbol('v', 0);
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currentBiasKey = symbol('b', 0);
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@ -105,28 +112,31 @@ else
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for i=1:trajectoryLength
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currentPoseKey = symbol('x', i);
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currentVelKey = symbol('v', i);
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currentBiasKey = symbol('b', i);
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gtDeltaPosition = unsmooth_DP*randn(3,1) + [20;0;0]; % create random vector with mean = [1 0 0] and sigma = 0.5
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gtDeltaRotation = unsmooth_DR*randn(3,1) + [0;0;0]; % create random rotation with mean [0 0 0] and sigma = 0.1 (rad)
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gtDeltaMatrix(i,:) = [gtDeltaRotation; gtDeltaPosition];
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deltaPose = Pose3.Expmap(gtDeltaMatrix(i,:)');
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measurements.deltaPose = Pose3.Expmap(gtDeltaMatrix(i,:)');
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% "Deduce" ground truth measurements
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% deltaPose are the gt measurements - save them in some structure
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currentPose = currentPose.compose(deltaPose);
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gtValues.insert(currentPoseKey, currentPose);
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% Add the factors to the factor graph
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% Add the factors to the factor graph
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gtGraph.add(BetweenFactorPose3(currentPoseKey-1, currentPoseKey, deltaPose, noisePose));
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% Add IMU factors
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if includeIMUFactors == 1
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currentVelKey = symbol('v', i); % not used if includeIMUFactors is false
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currentBiasKey = symbol('b', i); % not used if includeIMUFactors is false
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% create accel and gyro measurements based on
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gyro = gtDeltaMatrix(i, 1:3)./deltaT;
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accel = (gtDeltaMatrix(i, 4:6) - vel.*deltaT).*(2/(deltaT*deltaT));
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vel = gtDeltaMatrix(i,4:6)./deltaT;
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measurements.imu.gyro = gtDeltaMatrix(i, 1:3)./deltaT;
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% acc = (deltaPosition - initialVel * dT) * (2/dt^2)
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measurements.imu.accel = (gtDeltaMatrix(i, 4:6) - currentVel.*deltaT).*(2/(deltaT*deltaT));
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% update current velocity
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currentVel = gtDeltaMatrix(i,4:6)./deltaT;
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imuMeasurement = gtsam.ImuFactorPreintegratedMeasurements( ...
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zeroBias, ...
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IMU_metadata.AccelerometerSigma.^2 * eye(3), ...
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@ -147,9 +157,17 @@ else
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end
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end
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gtPoses = Values;
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for i=0:trajectoryLength
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currentPoseKey = symbol('x', i);
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currentPose = gtValues.at(currentPoseKey);
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gtPoses.insert(currentPoseKey, currentPose);
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end
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figure(1)
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hold on;
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plot3DTrajectory(gtValues, '-r', [], 1, Marginals(gtGraph, gtValues));
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plot3DTrajectory(gtPoses, '-r', [], 1, Marginals(gtGraph, gtPoses));
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axis equal
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numMonteCarloRuns = 100;
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@ -186,7 +204,7 @@ for k=1:numMonteCarloRuns
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% optimize
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optimizer = GaussNewtonOptimizer(graph, gtValues);
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estimate = optimizer.optimize();
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figure(1)
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plot3DTrajectory(estimate, '-b');
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@ -208,7 +226,7 @@ for k=1:numMonteCarloRuns
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% compute NEES using (estimationError = estimatedValues - gtValues) and estimated covariances
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NEES(k,i) = errPosition' * inv(covPosition) * errPosition; % distributed according to a Chi square with n = 3 dof
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end
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figure(2)
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hold on
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plot(NEES(k,:),'-b','LineWidth',1.5)
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@ -216,7 +234,7 @@ end
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%%
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ANEES = mean(NEES);
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plot(ANEES,'-r','LineWidth',2)
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plot(3*ones(size(ANEES,2),1),'k--'); % Expectation(ANEES) = number of dof
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plot(3*ones(size(ANEES,2),1),'k--'); % Expectation(ANEES) = number of dof
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box on
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set(gca,'Fontsize',16)
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title('NEES and ANEES');
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@ -232,7 +250,7 @@ n = 3; % position vector dimension
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N = numMonteCarloRuns; % number of runs
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alpha = 0.01; % confidence level
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% mean_value = n*N; % mean value of the Chi-square distribution
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% mean_value = n*N; % mean value of the Chi-square distribution
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% (we divide by n * N and for this reason we expect ANEES around 1)
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r1 = chi2inv(alpha, n * N) / (n * N);
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r2 = chi2inv(1-alpha, n * N) / (n * N);
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@ -252,19 +270,19 @@ set(gca,'Fontsize',16)
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title('NEES normalized by dof VS bounds');
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%% NEES COMPUTATION (Bar-Shalom 2001, Section 5.4)
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% the nees for a single experiment (i) is defined as
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% NEES_i = xtilda' * inv(P) * xtilda,
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% the nees for a single experiment (i) is defined as
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% NEES_i = xtilda' * inv(P) * xtilda,
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% where xtilda in R^n is the estimation
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% error, and P is the covariance estimated by the approach we want to test
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%
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%
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% Average NEES. Given N Monte Carlo simulations, i=1,...,N, the average
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% NEES is:
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% ANEES = sum(NEES_i)/N
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% The quantity N*ANEES is distributed according to a Chi-square
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% distribution with N*n degrees of freedom.
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%
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% For the single run case, N=1, therefore NEES = ANEES is distributed
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% according to a chi-square distribution with n degrees of freedom (e.g. n=3
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% For the single run case, N=1, therefore NEES = ANEES is distributed
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% according to a chi-square distribution with n degrees of freedom (e.g. n=3
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% if we are testing a position estimate)
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% Therefore its mean should be n (difficult to see from a single run)
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% and, with probability alpha, it should hold:
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