84 lines
2.4 KiB
C++
84 lines
2.4 KiB
C++
/*
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* AHRS.h
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*
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* Created on: Jan 26, 2012
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* Author: cbeall3
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*/
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#ifndef AHRS_H_
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#define AHRS_H_
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#include "Mechanization_bRn2.h"
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#include <gtsam_unstable/dllexport.h>
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#include <gtsam/linear/KalmanFilter.h>
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namespace gtsam {
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class GTSAM_UNSTABLE_EXPORT AHRS {
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private:
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// Initial state
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Mechanization_bRn2 mech0_; ///< Initial mechanization state
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KalmanFilter KF_; ///< initial Kalman filter
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// Quantities needed for integration
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Matrix3 F_g_; ///< gyro bias dynamics
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Matrix3 F_a_; ///< acc bias dynamics
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typedef Eigen::Matrix<double,12,1> Variances;
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Variances var_w_; ///< dynamic noise variances
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// Quantities needed for aiding
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Vector3 sigmas_v_a_; ///< measurement sigma
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Vector3 n_g_; ///< gravity in nav frame
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Matrix3 n_g_cross_; ///< and its skew-symmetric matrix
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Matrix3 Pg_, Pa_;
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public:
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typedef Eigen::Matrix<double,3,Eigen::Dynamic> Vector3s;
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static Matrix3 Cov(const Vector3s& m);
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/**
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* AHRS constructor
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* @param stationaryU initial interval of gyro measurements, 3xn matrix
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* @param stationaryF initial interval of accelerator measurements, 3xn matrix
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* @param g_e if given, initializes gravity with correct value g_e
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*/
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AHRS(const Matrix& stationaryU, const Matrix& stationaryF, double g_e, bool flat=false);
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std::pair<Mechanization_bRn2, KalmanFilter::State> initialize(double g_e);
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std::pair<Mechanization_bRn2, KalmanFilter::State> integrate(
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const Mechanization_bRn2& mech, KalmanFilter::State state,
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const Vector& u, double dt);
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bool isAidingAvailable(const Mechanization_bRn2& mech,
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const Vector& f, const Vector& u, double ge) const;
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/**
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* Aid the AHRS with an accelerometer reading, typically called when isAidingAvailable == true
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* @param mech current mechanization state
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* @param state current Kalman filter state
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* @param f accelerometer reading
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* @param Farrell
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*/
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std::pair<Mechanization_bRn2, KalmanFilter::State> aid(
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const Mechanization_bRn2& mech, KalmanFilter::State state,
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const Vector& f, bool Farrell=0) const;
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std::pair<Mechanization_bRn2, KalmanFilter::State> aidGeneral(
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const Mechanization_bRn2& mech, KalmanFilter::State state,
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const Vector& f, const Vector& f_expected, const Rot3& R_previous) const;
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/// print
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void print(const std::string& s = "") const;
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virtual ~AHRS();
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};
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} /* namespace gtsam */
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#endif /* AHRS_H_ */
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