From 352ded5036195e3adf76acf4a3316a262092361e Mon Sep 17 00:00:00 2001 From: "M.A. Gomez" Date: Sun, 18 Jun 2023 22:48:02 +0200 Subject: [PATCH] ADD: 3DoF model linearization in F matrix --- src/algorithms/PVT/libs/vtl_engine.cc | 23 +++++++++++++++++++---- src/algorithms/PVT/libs/vtl_engine.h | 2 +- 2 files changed, 20 insertions(+), 5 deletions(-) diff --git a/src/algorithms/PVT/libs/vtl_engine.cc b/src/algorithms/PVT/libs/vtl_engine.cc index 6c0b28f0e..05e0ed083 100644 --- a/src/algorithms/PVT/libs/vtl_engine.cc +++ b/src/algorithms/PVT/libs/vtl_engine.cc @@ -124,8 +124,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data) //************************************** // Kalman state prediction (time update) //************************************** - kf_F_fill(kf_F, kf_dt); - + if (counter < closure_point) { // receiver solution from rtklib_solver @@ -161,7 +160,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data) // kf_x(7) = (kf_x(7)-kf_dx(7))/kf_dt; // kf_x(8) = (kf_x(8)-kf_dx(8))/kf_dt; } - + kf_F_fill(kf_F, kf_dt, kf_x); obsv_calc(rho_pri, rhoDot_pri, rhoDot2_pri, a_x, a_y, a_z, new_data.sat_number, new_data.sat_p, new_data.sat_v, kf_x); kf_P_x = kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction @@ -299,8 +298,20 @@ void Vtl_Engine::kf_H_fill(arma::mat &kf_H, int sat_number, arma::colvec ax, arm } } -void Vtl_Engine::kf_F_fill(arma::mat &kf_F, double kf_dt) +void Vtl_Engine::kf_F_fill(arma::mat &kf_F, double kf_dt, arma::mat &kf_x) { + + double densidad = 1.0; + double ballistic_coef = 0.007; + double diam_cohete = 120.0e-3; // 120 mm + double mass_rocket = 50.0; // 50Kg + double beta = (GNSS_PI * densidad * diam_cohete * diam_cohete / 8) * ballistic_coef; + // modulo de la velocidad + double vx = kf_x(3); + double vy = kf_x(4); + double vz = kf_x(5); + double u = norm(kf_x.rows(3, 5), 2); + kf_F(0, 3) = kf_dt; kf_F(0, 6) = kf_dt * kf_dt / 2; kf_F(1, 4) = kf_dt; @@ -312,6 +323,10 @@ void Vtl_Engine::kf_F_fill(arma::mat &kf_F, double kf_dt) kf_F(4, 7) = kf_dt; kf_F(5, 8) = kf_dt; + kf_F(6, 3) = -beta*(vx*vx/u+u); + kf_F(7, 4) = -beta*(vy*vy/u+u); + kf_F(8, 5) = -beta*(vz*vz/u+u); + kf_F(9, 10) = kf_dt; } diff --git a/src/algorithms/PVT/libs/vtl_engine.h b/src/algorithms/PVT/libs/vtl_engine.h index 5cc664bb3..d1977df72 100644 --- a/src/algorithms/PVT/libs/vtl_engine.h +++ b/src/algorithms/PVT/libs/vtl_engine.h @@ -104,7 +104,7 @@ private: double delta_t_cmd = 0; void kf_H_fill(arma::mat &kf_H, int sat_number, arma::colvec ax, arma::colvec ay, arma::colvec az, double kf_dt); // Observation Matrix constructor - void kf_F_fill(arma::mat &kf_F, double kf_dt); // System Matrix constructor + void kf_F_fill(arma::mat &kf_F, double kf_dt, arma::mat &kf_x); // System Matrix constructor void obsv_calc(arma::mat &rho_pri, arma::mat &rhoDot_pri, arma::mat &rhoDot2_pri, arma::colvec &ax, arma::colvec &ay, arma::colvec &az, int sat_number, arma::mat sat_p, arma::mat sat_v, arma::mat kf_x); // Observables calculation void kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::mat rhoDot2_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x); void model3DoF(double &acc_x, double &acc_y, double &acc_z, arma::mat kf_x, double dt, int counter);