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Merge branch 'vtl_rocket_model' into vtl

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This commit is contained in:
M.A. Gomez 2023-03-10 00:01:53 +01:00
commit 6915e5e24e
5 changed files with 419 additions and 110 deletions
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2
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -2301,7 +2301,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
// VTP To.Do: Check why get_PVT is triggered twice. Leave only one get_PVT. // VTP To.Do: Check why get_PVT is triggered twice. Leave only one get_PVT.
flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false, false, false); //flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, false, false, false);
} }
if (flag_pvt_valid == true) if (flag_pvt_valid == true)

4
src/algorithms/PVT/libs/rtklib_solver.cc
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@ -473,7 +473,7 @@ bool Rtklib_Solver::save_matfile() const
{ {
// READ DUMP FILE // READ DUMP FILE
const std::string dump_filename = d_dump_filename; const std::string dump_filename = d_dump_filename;
const int32_t number_of_double_vars = 23; //+2 MAGL const int32_t number_of_double_vars = 21;
const int32_t number_of_uint32_vars = 2; const int32_t number_of_uint32_vars = 2;
const int32_t number_of_uint8_vars = 3; const int32_t number_of_uint8_vars = 3;
const int32_t number_of_float_vars = 2; const int32_t number_of_float_vars = 2;
@ -1879,8 +1879,6 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
vtl_data.rx_dts(0) = rx_position_and_time[3]; vtl_data.rx_dts(0) = rx_position_and_time[3];
vtl_data.rx_dts(1) = pvt_sol.dtr[5] / 1e6; // [ppm] to [s] vtl_data.rx_dts(1) = pvt_sol.dtr[5] / 1e6; // [ppm] to [s]
//new_vtl_data.debug_print();
//vtl_data.kf_state.print("kf_state_input");
vtl_engine.vtl_loop(vtl_data); vtl_engine.vtl_loop(vtl_data);
} }

474
src/algorithms/PVT/libs/vtl_engine.cc
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@ -44,25 +44,32 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
} }
double delta_t_vtl = (new_data.sample_counter - refSampleCounter) / 5000000.0; double delta_t_vtl = (new_data.sample_counter - refSampleCounter) / 5000000.0;
refSampleCounter = new_data.sample_counter; refSampleCounter = new_data.sample_counter;
static double delta_t_cmd = 0;
bool flag_cmd = false;
delta_t_cmd = delta_t_cmd+delta_t_vtl; // update timer for vtl trk command
if(delta_t_cmd>=0.3){
flag_cmd = true;
delta_t_cmd = 0; // reset timer for vtl trk command
}
// ################## Kalman filter initialization ###################################### // ################## Kalman filter initialization ######################################
//State variables //State variables
arma::mat kf_dx = arma::zeros(n_of_states, 1); arma::mat kf_dx = arma::zeros(n_of_states, 1);
// covariances (static) // covariances (static)
kf_R = arma::zeros(2 * new_data.sat_number, 2 * new_data.sat_number); kf_R = arma::zeros(3 * new_data.sat_number, 3 * new_data.sat_number);
double kf_dt = delta_t_vtl; //0.05; double kf_dt = delta_t_vtl; //0.05;
kf_Q = arma::eye(n_of_states, n_of_states); kf_Q = arma::eye(n_of_states, n_of_states);
kf_F = arma::eye(n_of_states, n_of_states); kf_F = arma::eye(n_of_states, n_of_states);
bool test = kf_F_fill(kf_F,kf_dt); bool test = kf_F_fill(kf_F,kf_dt);
//kf_H = arma::zeros(2 * new_data.sat_number, n_of_states); //kf_H = arma::zeros(3 * new_data.sat_number, n_of_states);
kf_y = arma::zeros(2 * new_data.sat_number, 1); kf_y = arma::zeros(3 * new_data.sat_number, 1);
kf_yerr = arma::zeros(2 * new_data.sat_number, 1); kf_yerr = arma::zeros(3 * new_data.sat_number, 1);
kf_xerr = arma::zeros(n_of_states, 1); kf_xerr = arma::zeros(n_of_states, 1);
kf_S = arma::zeros(2 * new_data.sat_number, 2 * new_data.sat_number); // kf_P_y innovation covariance matrix kf_S = arma::zeros(3 * new_data.sat_number, 3 * new_data.sat_number); // kf_P_y innovation covariance matrix
kf_K = arma::zeros(n_of_states, 2 * new_data.sat_number); ; kf_K = arma::zeros(n_of_states, 3 * new_data.sat_number); ;
// ################## Kalman Tracking ###################################### // ################## Kalman Tracking ######################################
counter++; //uint64_t counter++; //uint64_t
//new_data.kf_state.print("new_data kf initial"); //new_data.kf_state.print("new_data kf initial");
@ -84,25 +91,22 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
kf_x(9) = new_data.rx_dts(0) * SPEED_OF_LIGHT_M_S; kf_x(9) = new_data.rx_dts(0) * SPEED_OF_LIGHT_M_S;
kf_x(10) = new_data.rx_dts(1) * SPEED_OF_LIGHT_M_S; kf_x(10) = new_data.rx_dts(1) * SPEED_OF_LIGHT_M_S;
kf_dx=kf_x-kf_dx; kf_dx = kf_x-kf_dx;
kf_dx = kf_F * kf_dx; // state prediction kf_dx = kf_F * kf_dx; // state prediction
} }
else else
{ {
// receiver solution from previous KF step // receiver solution from previous KF step
// kf_x(0) = x_u; double acc_x = 0;
// kf_x(1) = y_u; double acc_y = 0;
// kf_x(2) = z_u; double acc_z = 0;
// kf_x(3) = xDot_u; test = model3DoF(acc_x,acc_y,acc_z,kf_x,kf_dt,counter);
// kf_x(4) = yDot_u; kf_x(6) = acc_x;
// kf_x(5) = zDot_u; kf_x(7) = acc_y;
// kf_x(6) = xDot2_u; kf_x(8) = acc_z;
// kf_x(7) = yDot2_u; // kf_x(6) = (kf_x(6)-kf_dx(6))/kf_dt;
// kf_x(8) = zDot2_u; // kf_x(7) = (kf_x(7)-kf_dx(7))/kf_dt;
// kf_x(9) = cdeltat_u; // kf_x(8) = (kf_x(8)-kf_dx(8))/kf_dt;
// kf_x(10) = cdeltatDot_u;
//kf_P_x = new_data.kf_P;
} }
// State error Covariance Matrix Q (PVT) // State error Covariance Matrix Q (PVT)
@ -113,28 +117,28 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
kf_Q(3, 3) = 8.0; kf_Q(3, 3) = 8.0;
kf_Q(4, 4) = 8.0; kf_Q(4, 4) = 8.0;
kf_Q(5, 5) = 8.0; kf_Q(5, 5) = 8.0;
kf_Q(6, 6) = .1; kf_Q(6, 6) = .10;
kf_Q(7, 7) = .1; kf_Q(7, 7) = .10;
kf_Q(8, 8) = .1; kf_Q(8, 8) = .10;
kf_Q(9, 9) = 4.0; kf_Q(9, 9) = 4.0;
kf_Q(10, 10) = 100.0; kf_Q(10, 10) = 10.0;
// Measurement error Covariance Matrix R assembling // Measurement error Covariance Matrix R assembling
for (int32_t i = 0; i < new_data.sat_number; i++) for (int32_t i = 0; i < new_data.sat_number; i++)
{ {
// It is diagonal 2*NSatellite x 2*NSatellite (NSat psudorange error;NSat pseudo range rate error) // It is diagonal 2*NSatellite x 2*NSatellite (NSat psudorange error;NSat pseudo range rate error)
kf_R(i, i) = 20.0;//*50.0/new_data.sat_CN0_dB_hz(i); //TODO: fill with real values. kf_R(i, i) = 80.0;//*50.0/new_data.sat_CN0_dB_hz(i); //TODO: fill with real values.
kf_R(i + new_data.sat_number, i + new_data.sat_number) = 1.0;//*50.0/new_data.sat_CN0_dB_hz(i); kf_R(i + new_data.sat_number, i + new_data.sat_number) = 20.0;//*50.0/new_data.sat_CN0_dB_hz(i);
kf_R(i + 2*new_data.sat_number, i + 2*new_data.sat_number) = 400.0;//*50.0/new_data.sat_CN0_dB_hz(i);
// if(50.0*50.0/new_data.sat_CN0_dB_hz(i)>70||5.0*50.0/new_data.sat_CN0_dB_hz(i)>7){ // if(80.0*50.0/new_data.sat_CN0_dB_hz(i)>90||20.0*50.0/new_data.sat_CN0_dB_hz(i)>25){
// kf_R(i, i) = 10e4; // kf_R(i, i) = 10e4;
// kf_R(i + new_data.sat_number, i + new_data.sat_number) = 10e4; // kf_R(i + new_data.sat_number, i + new_data.sat_number) = 10e4;
// kf_R(i + 2*new_data.sat_number, i + 2*new_data.sat_number) = 10e4;
// cout<<"channel: "<<i<<"discarded"<<endl;
// } // }
} }
// arma::mat test = kf_P_x.diag();
// test.print("P diagonal");
// test = kf_Q.diag();
// test.print("Q diagonal");
// Kalman state prediction (time update) // Kalman state prediction (time update)
//new_data.kf_state=kf_x; //new_data.kf_state=kf_x;
//kf_x = kf_F * kf_x; // state prediction //kf_x = kf_F * kf_x; // state prediction
@ -145,6 +149,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
d = arma::zeros(new_data.sat_number, 1); d = arma::zeros(new_data.sat_number, 1);
rho_pri = arma::zeros(new_data.sat_number, 1); rho_pri = arma::zeros(new_data.sat_number, 1);
rhoDot_pri = arma::zeros(new_data.sat_number, 1); rhoDot_pri = arma::zeros(new_data.sat_number, 1);
rhoDot2_pri = arma::zeros(new_data.sat_number, 1);
rho_pri_filt = arma::zeros(new_data.sat_number, 1); rho_pri_filt = arma::zeros(new_data.sat_number, 1);
rhoDot_pri_filt = arma::zeros(new_data.sat_number, 1); rhoDot_pri_filt = arma::zeros(new_data.sat_number, 1);
@ -153,7 +158,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
a_x = arma::zeros(new_data.sat_number, 1); a_x = arma::zeros(new_data.sat_number, 1);
a_y = arma::zeros(new_data.sat_number, 1); a_y = arma::zeros(new_data.sat_number, 1);
a_z = arma::zeros(new_data.sat_number, 1); a_z = arma::zeros(new_data.sat_number, 1);
// cout<<"llegado aqui tambien"<<endl;
test = obsv_calc(rho_pri,rhoDot_pri,a_x, a_y, a_z,new_data.sat_number,new_data.sat_p,new_data.sat_v,kf_x); test = obsv_calc(rho_pri,rhoDot_pri,a_x, a_y, a_z,new_data.sat_number,new_data.sat_p,new_data.sat_v,kf_x);
for (int32_t i = 0; i < new_data.sat_number; i++) //neccesary quantities for (int32_t i = 0; i < new_data.sat_number; i++) //neccesary quantities
{ {
@ -161,34 +166,40 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
new_data.sat_LOS(i, 1) = a_y(i); new_data.sat_LOS(i, 1) = a_y(i);
new_data.sat_LOS(i, 2) = a_z(i); new_data.sat_LOS(i, 2) = a_z(i);
} }
// cout<<new_data.sat_number<<"sat_number";
kf_H = arma::zeros(2 * new_data.sat_number, n_of_states); kf_H = arma::zeros(3 * new_data.sat_number, n_of_states);
test = kf_H_fill(kf_H,new_data.sat_number,a_x, a_y, a_z, kf_dt); test = kf_H_fill(kf_H,new_data.sat_number,a_x, a_y, a_z, kf_dt);
// kf_H.print("kf_H diag:");
for (int32_t i = 0; i < new_data.sat_number; i++) //neccesary quantities
{
// rhoDot2_pri(i)=(rhoDot_pri(i)-rhoDot_pri_old(i))/kf_dt;
}
// Kalman estimation (measurement update) // Kalman estimation (measurement update)
test = kf_measurements(kf_yerr, new_data.sat_number, rho_pri, rhoDot_pri, new_data.pr_m, new_data.doppler_hz, kf_x); test = kf_measurements(kf_yerr, new_data.sat_number, rho_pri, rhoDot_pri, rhoDot_pri*0, new_data.pr_m, new_data.doppler_hz, kf_x);
kf_P_x = kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction kf_P_x = kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction
// kf_P_x.print("a priori P: ");
// Kalman filter update step // Kalman filter update step
kf_S = kf_H * kf_P_x * kf_H.t() + kf_R; // innovation covariance matrix (S) kf_S = kf_H * kf_P_x * kf_H.t() + kf_R; // innovation covariance matrix (S)
kf_K = (kf_P_x * kf_H.t()) * arma::inv(kf_S); // Kalman gain arma::mat B= (kf_P_x * kf_H.t()) ;
kf_xerr = kf_K * (kf_yerr); // Error state estimation kf_K = B * arma::inv(kf_S); // Kalman gain
kf_P_x = (arma::eye(size(kf_P_x)) - kf_K * kf_H) * kf_P_x; // update state estimation error covariance matrix
kf_x = kf_x - kf_xerr; // updated state estimation (a priori + error)
new_data.kf_state = kf_x;
new_data.kf_P = kf_P_x;
if(abs(delta_t_vtl)>.5){
kf_xerr.print("kf_xERR: ");
cout<<"kf_dt: "<<delta_t_vtl<<endl;
kf_x.print("kf_x:");
kf_K.print("kf_K:");
}
// kf_x.print("state CORRECTED:");
kf_xerr = kf_K * (kf_yerr); // Error state estimation
//kf_xerr.row(5)=kf_K.row(5)*kf_yerr;
arma::mat A = (arma::eye(size(kf_P_x)) - kf_K * kf_H);
kf_P_x = A * kf_P_x * A.t() + kf_K * kf_R * kf_K.t() ; // update state estimation error covariance matrix
kf_dx=kf_x;
kf_x = kf_x-kf_xerr; // updated state estimation (a priori + error)
// kf_x.print("state of kalman: ");
// // ################## Geometric Transformation ###################################### // // ################## Geometric Transformation ######################################
test = obsv_calc(rho_pri,rhoDot_pri,a_x, a_y, a_z,new_data.sat_number,new_data.sat_p,new_data.sat_v,kf_x); test = obsv_calc(rho_pri,rhoDot_pri,a_x, a_y, a_z,new_data.sat_number,new_data.sat_p,new_data.sat_v,kf_x);
for (int32_t i = 0; i < new_data.sat_number; i++) //neccesary quantities
{
//acc_effect(i)=(a_x(i)*kf_state(7,t)+a_y(chan,t)*kf_state(8,t)+a_z(chan,t)*kf_state(9,t));
//rhoDot2_pri(chan,t)=(rhoDot_pri(chan,t)-rhoDot_pri(chan,t-1))/kf_dt;
//rhoDot2_pri(chan,t)=-acc_effect(chan,t);
}
test = kf_H_fill(kf_H,new_data.sat_number,a_x, a_y, a_z, kf_dt); test = kf_H_fill(kf_H,new_data.sat_number,a_x, a_y, a_z, kf_dt);
// Re-calculate error measurement vector with the most recent data available: kf_delta_y=kf_H*kf_delta_x // Re-calculate error measurement vector with the most recent data available: kf_delta_y=kf_H*kf_delta_x
kf_yerr = kf_H * kf_xerr; kf_yerr = kf_H * kf_xerr;
@ -199,20 +210,34 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
for (int32_t channel = 0; channel < new_data.sat_number; channel++) // Measurement vector for (int32_t channel = 0; channel < new_data.sat_number; channel++) // Measurement vector
{ {
rho_pri_filt(channel) = new_data.pr_m(channel) + kf_yerr(channel); // now filtered rho_pri_filt(channel) = new_data.pr_m(channel) + kf_yerr(channel); // now filtered
rhoDot_pri_filt(channel) = (new_data.doppler_hz(channel) * Lambda_GPS_L1) - kf_yerr(channel + new_data.sat_number); // now filtered rhoDot_pri_filt(channel) = (new_data.doppler_hz(channel) * Lambda_GPS_L1) + kf_yerr(channel + new_data.sat_number); // now filtered
doppler_hz_filt(channel) = (rhoDot_pri_filt(channel)) / Lambda_GPS_L1; doppler_hz_filt(channel) = (rhoDot_pri_filt(channel)) / Lambda_GPS_L1;
//TODO: Fill the tracking commands outputs //TODO: Fill the tracking commands outputs
// Notice: keep the same satellite order as in the Vtl_Data matrices // Notice: keep the same satellite order as in the Vtl_Data matrices
// sample code // sample code
trk_cmd.carrier_phase_rads = 0; // difficult of calculation trk_cmd.carrier_phase_rads = 0; // difficult of calculation
trk_cmd.carrier_freq_hz = doppler_hz_filt(channel); //+ kf_x(7)/Lambda_GPS_L1; // this is el doppler WITHOUTH sintony correction trk_cmd.carrier_freq_hz = doppler_hz_filt(channel); //+ kf_x(7)/Lambda_GPS_L1; // this is el doppler WITHOUTH sintony correction
trk_cmd.carrier_freq_rate_hz_s = (a_x(channel)*kf_x(6)+a_y(channel)*kf_x(7)+a_z(channel)*kf_x(8)); trk_cmd.carrier_freq_rate_hz_s =-(a_x(channel)*kf_x(6)+a_y(channel)*kf_x(7)+a_z(channel)*kf_x(8)) / Lambda_GPS_L1;
trk_cmd.code_phase_chips = kf_yerr(channel)/SPEED_OF_LIGHT_M_S*1023e3; trk_cmd.code_phase_chips = 0;//kf_yerr(channel)/SPEED_OF_LIGHT_M_S*1023e3;
if (flag_cmd){
trk_cmd.enable_carrier_nco_cmd = true; trk_cmd.enable_carrier_nco_cmd = true;
}else{
trk_cmd.enable_carrier_nco_cmd = false; // do NOT apply corrections! loop convergence issue
}
if(counter<1500){
// std::cout<<"yet to soon"<<std::endl;
trk_cmd.enable_code_nco_cmd = false; // do NOT apply corrections! initial convergence issue
}else{
trk_cmd.enable_code_nco_cmd = true; trk_cmd.enable_code_nco_cmd = true;
}
trk_cmd.sample_counter = new_data.sample_counter; trk_cmd.sample_counter = new_data.sample_counter;
trk_cmd.channel_id = 0; trk_cmd.channel_id = channel;
trk_cmd_outs.push_back(trk_cmd); trk_cmd_outs.push_back(trk_cmd);
// if (channel == 0) // if (channel == 0)
// { // {
// std::cout << "[" << trk_cmd.sample_counter << "] CH " << channel // std::cout << "[" << trk_cmd.sample_counter << "] CH " << channel
@ -220,41 +245,40 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
// << " \n"; // << " \n";
// } // }
} }
// fstream dump_vtl_file;
// dump_vtl_file.open("dump_vtl_file.csv", ios::out | ios::app);
// dump_vtl_file.precision(15);
// if (!dump_vtl_file)
// {
// cout << "File not created!";
// }
// else
// {
fstream dump_vtl_file; // if(new_data.sat_number>5){
dump_vtl_file.open("dump_vtl_file.csv", ios::out | ios::app); // // dump_vtl_file << "pr_m"
dump_vtl_file.precision(15); // // << "," << kf_yerr(0)<< "," << kf_yerr(1)<< "," << kf_yerr(2)
if (!dump_vtl_file) // // << "," << kf_yerr(3) << "," << kf_yerr(4)<< "," << kf_yerr(5)<<endl;
{ // // dump_vtl_file << "prDot_m"
cout << "File not created!"; // // << "," << kf_yerr(new_data.sat_number)<< "," << kf_yerr(new_data.sat_number+1)<< "," << kf_yerr(new_data.sat_number+2)
} // // << "," << kf_yerr(new_data.sat_number+3) << "," << kf_yerr(new_data.sat_number+4)<< "," << kf_yerr(new_data.sat_number+5)<< endl;
else // // // dump_vtl_file << "K_column"
{ // // // << "," << kf_K.row(5)(6) << "," << kf_K.row(5)(7) << "," <<kf_K.row(5)(8)<< "," << kf_K.row(5)(9)
// // // << "," << kf_K.row(5)(10) << "," << kf_K.row(5)(11) << endl;
if(new_data.sat_number>5){ // // // dump_vtl_file << "K_column2"
// dump_vtl_file << "pr_m" // // // << "," << kf_K.row(5)(0) << "," << kf_K.row(5)(1) << "," <<kf_K.row(5)(2)<< "," << kf_K.row(5)(3)
// << "," << new_data.pr_m(0) << "," << new_data.pr_m(1) << "," << new_data.pr_m(2) // // // << "," << kf_K.row(5)(4) << "," << kf_K.row(5)(5) << endl;
// << "," << new_data.pr_m(3) << "," << new_data.pr_m(4)<<"," << new_data.pr_m(5) << endl; // }
// dump_vtl_file << "prDot_m" // dump_vtl_file << "kf_state"
// << "," << new_data.doppler_hz(0)<< "," << new_data.doppler_hz(1)<< "," << new_data.doppler_hz(2) // << "," << kf_x(0) << "," << kf_x(1) << "," << kf_x(2) << "," << kf_x(3) << "," << kf_x(4) << "," << kf_x(5) << "," << kf_x(6) << "," << kf_x(7)<< "," << kf_x(8) <<"," << kf_x(9) <<"," << kf_x(10)<< endl;
// << "," << new_data.doppler_hz(3) << "," << new_data.doppler_hz(4)<< "," << new_data.doppler_hz(5)<< endl; // dump_vtl_file << "kf_xerr"
// dump_vtl_file << "sat_position" // << "," << kf_xerr(0) << "," << kf_xerr(1) << "," << kf_xerr(2) << "," << kf_xerr(3) << "," << kf_xerr(4) << "," << kf_xerr(5) << "," << kf_xerr(6) << "," << kf_xerr(7)<< "," << kf_xerr(8) <<"," << kf_xerr(9) <<"," << kf_xerr(10)<< endl;
// << "," << kf_xerr(0) << "," << kf_xerr(1) << "," << "," << kf_xerr(5) // dump_vtl_file << "rtklib_state"
// << "," << kf_xerr(6) << "," << kf_xerr(7) << endl; // << "," << new_data.rx_p(0) << "," << new_data.rx_p(1) << "," << new_data.rx_p(2) << "," << new_data.rx_v(0) << "," << new_data.rx_v(1) << "," << new_data.rx_v(2) << "," << new_data.rx_dts(0) << "," << new_data.rx_dts(1) << "," << delta_t_vtl << endl;
// dump_vtl_file << "sat_velocity"
// << "," << kf_xerr(0) << "," << kf_xerr(1) << "," << kf_xerr(2) << "," << kf_xerr(3) << "," << kf_xerr(4) << "," << kf_xerr(5)
// << "," << kf_xerr(6) << "," << kf_xerr(7) << endl;
}
dump_vtl_file << "kf_state"
<< "," << kf_x(0) << "," << kf_x(1) << "," << kf_x(2) << "," << kf_x(3) << "," << kf_x(4) << "," << kf_x(5) << "," << kf_x(6) << "," << kf_x(7)<< "," << kf_x(8) <<"," << kf_x(9) <<"," << kf_x(10)<< endl;
dump_vtl_file << "kf_xerr"
<< "," << kf_xerr(0) << "," << kf_xerr(1) << "," << kf_xerr(2) << "," << kf_xerr(3) << "," << kf_xerr(4) << "," << kf_xerr(5) << "," << kf_xerr(6) << "," << kf_xerr(7)<< "," << kf_xerr(8) <<"," << kf_xerr(9) <<"," << kf_xerr(10)<< endl;
dump_vtl_file << "rtklib_state"
<< "," << new_data.rx_p(0) << "," << new_data.rx_p(1) << "," << new_data.rx_p(2) << "," << new_data.rx_v(0) << "," << new_data.rx_v(1) << "," << new_data.rx_v(2) << "," << new_data.rx_dts(0) << "," << new_data.rx_dts(1) << "," << delta_t_vtl << endl;
// dump_vtl_file << "filt_dopp_sat" // dump_vtl_file << "filt_dopp_sat"
// << "," << doppler_hz_filt(0) << "," << doppler_hz_filt(1) << "," << doppler_hz_filt(2) << "," << doppler_hz_filt(3) << "," << doppler_hz_filt(4) <<endl; // << "," << doppler_hz_filt(0) << "," << doppler_hz_filt(1) << "," << doppler_hz_filt(2) << "," << doppler_hz_filt(3) << "," << doppler_hz_filt(4) <<endl;
dump_vtl_file.close(); // dump_vtl_file.close();
} // }
return true; return true;
} }
@ -283,15 +307,23 @@ bool Vtl_Engine::kf_H_fill(arma::mat &kf_H,int sat_number, arma::colvec ax, arma
kf_H(i, 1) = ay(i); kf_H(i, 1) = ay(i);
kf_H(i, 2) = az(i); kf_H(i, 2) = az(i);
kf_H(i, 9) = 1.0; kf_H(i, 9) = 1.0;
kf_H(i,10) = kf_dt;
kf_H(i + sat_number, 3) = ax(i); kf_H(i + sat_number, 3) = ax(i);
kf_H(i + sat_number, 4) = ay(i); kf_H(i + sat_number, 4) = ay(i);
kf_H(i + sat_number, 5) = az(i); kf_H(i + sat_number, 5) = az(i);
kf_H(i + sat_number, 6) = ax(i)*kf_dt; kf_H(i + sat_number, 6) = ax(i)*kf_dt;
kf_H(i + sat_number, 7) = ay(i)*kf_dt; kf_H(i + sat_number, 7) = ay(i)*kf_dt;
kf_H(i + sat_number, 8) = az(i)*kf_dt; kf_H(i + sat_number, 8) = az(i)*kf_dt;
kf_H(i + sat_number, 10) = 1.0; kf_H(i + sat_number, 10) = 1.0;
kf_H(i + 2*sat_number, 3) = 0;//ax(i);
kf_H(i + 2*sat_number, 4) = 0;//ay(i);
kf_H(i + 2*sat_number, 5) = 0;//az(i);
kf_H(i + 2*sat_number, 6) = ax(i);
kf_H(i + 2*sat_number, 7) = ay(i);
kf_H(i + 2*sat_number, 8) = az(i);
kf_H(i + 2*sat_number, 10) = kf_dt;
} }
return -1; return -1;
@ -335,16 +367,282 @@ bool Vtl_Engine::obsv_calc(arma::mat &rho_pri,arma::mat &rhoDot_pri,arma::colvec
return -1; return -1;
} }
bool Vtl_Engine::kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x) bool Vtl_Engine::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)
{ {
for (int32_t i = 0; i < sat_number; i++) // Measurement vector for (int32_t i = 0; i < sat_number; i++) // Measurement vector
{ {
kf_yerr(i) = rho_pri(i) - pr_m(i); kf_yerr(i) = rho_pri(i) - pr_m(i);
kf_yerr(i + sat_number) = (doppler_hz(i) * Lambda_GPS_L1+kf_x(10)) - rhoDot_pri(i); kf_yerr(i + sat_number) = (doppler_hz(i) * Lambda_GPS_L1+kf_x(10)) - rhoDot_pri(i);
kf_yerr(i + 2*sat_number) = -rhoDot2_pri(i);
} }
return -1; return -1;
} }
bool Vtl_Engine::model3DoF(double &acc_x,double &acc_y,double &acc_z,arma::mat kf_x,double dt, int counter)
{
arma::colvec u_vec;
arma::colvec acc_vec;
arma::colvec u_dir;
arma::colvec gravity_ECEF = {-7.826024, 0.8616969, -5.833042}; //lat=36.533333 lon=-6.283333
static double t_disparo=0;
double Empuje;
double densidad=1.0;
double ballistic_coef = 0.007;
//vector velocidad
u_vec = kf_x.rows(3, 5);
//modulo de la velocidad
double u = norm(u_vec, 2);
if(counter>1500){
if(u>6){
t_disparo=t_disparo+dt;
std::cout<<"u : "<<u<<endl;
double diam_cohete=120.0e-3;// 120 mm
double mass_rocket=50.0; //50Kg
if(t_disparo<.2){
u_dir={.90828, -.13984, -.388756};
}else{
u_dir = u_vec / u;
}
// u_dir.print("u_dir");
// lla= ecef2lla([kf_State(1) kf_State(2) kf_State(3)]);
// [T, sound_v, P, densidad] = atmosisa(lla(3));
// sound_v=320;% @ 5km and -17.5C
// Mach=u/sound_v;
// CD0 = Cd0_M_LookTable(Mach);
// % ballistic_coef is Cd0/mass_rocket;
// ballistic_coef=CD0/mass_rocket;
Empuje = EmpujeLkTable(t_disparo);
// cout<<"Empuje: "<<Empuje<<endl;
acc_vec = -(GNSS_PI*densidad*diam_cohete*diam_cohete/8)*ballistic_coef*u*u_dir
+gravity_ECEF+Empuje*u_dir;
// acc_vec.print("acc_vec");
// % return
cout<<"modelo 3Dof actuando,t:"<<t_disparo<<endl;
acc_x = acc_vec(0);
acc_y = acc_vec(1);
acc_z = acc_vec(2);
}else{
t_disparo=0;
// % return
acc_x = 0;
acc_y = 0;
acc_z = 0;
}
}else{
// % return
acc_x = 0;
acc_y = 0;
acc_z = 0;
}
return -1;
}
double Vtl_Engine::EmpujeLkTable(double t_disparo)
{
double E;
arma::mat LkTable={
{0.0, 391.083112445424},
{0.0100578034682081, 385.626317230813},
{0.0201156069364162, 379.253652903964},
{0.0301734104046243, 372.850418310078},
{0.0402312138728324, 366.435105395212},
{0.0502890173410405, 359.948724887310},
{0.0603468208092486, 353.452370826679},
{0.0704046242774566, 346.915160536406},
{0.0804624277456647, 340.353374212744},
{0.0905202312138728, 339.982366920698},
{0.100578034682081, 339.649644036322},
{0.110635838150289, 339.313119301332},
{0.120693641618497, 338.971249841340},
{0.130751445086705, 338.626092336370},
{0.140809248554913, 338.277926096280},
{0.150867052023121, 337.923860794114},
{0.160924855491329, 337.564686821652},
{0.170982658959538, 337.204565166310},
{0.181040462427746, 336.836327593982},
{0.191098265895954, 337.612574596978},
{0.201156069364162, 338.389812277202},
{0.211213872832370, 339.172197383571},
{0.221271676300578, 339.950864133333},
{0.231329479768786, 340.734286946588},
{0.241387283236994, 341.513599696996},
{0.251445086705202, 342.296487929689},
{0.261502890173410, 343.077730186615},
{0.271560693641619, 343.862401553296},
{0.281618497109827, 344.645045182721},
{0.291676300578035, 345.430222609429},
{0.301734104046243, 346.216363751051},
{0.311791907514451, 347.003086022300},
{0.321849710982659, 347.790403464500},
{0.331907514450867, 348.576632890101},
{0.341965317919075, 349.365041767204},
{0.352023121387283, 350.154345504950},
{0.362080924855491, 350.943780688588},
{0.372138728323699, 351.735714016931},
{0.382196531791908, 352.523676077225},
{0.392254335260116, 353.317052045327},
{0.402312138728324, 354.110411623268},
{0.412369942196532, 354.903279067692},
{0.422427745664740, 355.692559158889},
{0.432485549132948, 356.490274978154},
{0.442543352601156, 357.283451900588},
{0.452601156069364, 358.078507291348},
{0.462658959537572, 358.871323078342},
{0.472716763005780, 359.668187019647},
{0.482774566473988, 360.465893772213},
{0.492832369942197, 361.264486481857},
{0.502890173410405, 362.057713788838},
{0.512947976878613, 362.855398652135},
{0.523005780346821, 363.651958513907},
{0.533063583815029, 364.453139119421},
{0.543121387283237, 365.248494477390},
{0.553179190751445, 366.047440571574},
{0.563236994219653, 366.844541693072},
{0.573294797687861, 367.645722991578},
{0.583352601156069, 368.431281642859},
{0.593410404624277, 369.218032671753},
{0.603468208092486, 370.005763838889},
{0.613526011560694, 370.793449087224},
{0.623583815028902, 371.577331994297},
{0.633641618497110, 372.361872668242},
{0.643699421965318, 373.139234321453},
{0.653757225433526, 373.922395308171},
{0.663815028901734, 374.698638233448},
{0.673872832369942, 375.477674739791},
{0.683930635838150, 376.256375688174},
{0.693988439306358, 377.561519397833},
{0.704046242774567, 378.859304679191},
{0.714104046242775, 380.167718611141},
{0.724161849710983, 381.477582211590},
{0.734219653179191, 382.785006750526},
{0.744277456647399, 384.092555921096},
{0.754335260115607, 385.403347233778},
{0.764393063583815, 386.680222025901},
{0.774450867052023, 387.960348600215},
{0.784508670520231, 389.241465657245},
{0.794566473988439, 390.517609695133},
{0.804624277456647, 391.778341124162},
{0.814682080924856, 393.038366474572},
{0.824739884393064, 394.291210028831},
{0.834797687861272, 395.545183108074},
{0.844855491329480, 396.779476009029},
{0.854913294797688, 398.005131564908},
{0.864971098265896, 399.217607990930},
{0.875028901734104, 400.433585037519},
{0.885086705202312, 401.639603766860},
{0.895144508670520, 402.824960888722},
{0.905202312138728, 403.999818917039},
{0.915260115606936, 405.164413592803},
{0.925317919075145, 406.332094769783},
{0.935375722543353, 407.489826389568},
{0.945433526011561, 408.638695158694},
{0.955491329479769, 409.788208430892},
{0.965549132947977, 410.920696471959},
{0.975606936416185, 412.071117188526},
{0.985664739884393, 413.227362102269},
{0.995722543352601, 414.376295532213},
{1.00578034682081, 415.517208260982},
{1.01583815028902, 416.685111645473},
{1.02589595375723, 417.874034388355},
{1.03595375722543, 419.050152356493},
{1.04601156069364, 420.226540416000},
{1.05606936416185, 421.431674949807},
{1.06612716763006, 422.651832857732},
{1.07618497109827, 423.879432015756},
{1.08624277456647, 425.096859052146},
{1.09630057803468, 426.370514159926},
{1.10635838150289, 427.681420607676},
{1.11641618497110, 428.990653815442},
{1.12647398843931, 430.308007852515},
{1.13653179190751, 431.623136377095},
{1.14658959537572, 432.942354714805},
{1.15664739884393, 434.260396644686},
{1.16670520231214, 435.580636665589},
{1.17676300578035, 436.903819649131},
{1.18682080924855, 438.235977095674},
{1.19687861271676, 439.760282970165},
{1.20693641618497, 441.285566201751},
{1.21699421965318, 442.823791210454},
{1.22705202312139, 444.354330708051},
{1.23710982658960, 445.893589623130},
{1.24716763005780, 447.437414139676},
{1.25722543352601, 449.016306037988},
{1.26728323699422, 450.605733417807},
{1.27734104046243, 452.197570123945},
{1.28739884393064, 453.799041921642},
{1.29745664739884, 455.395152193126},
{1.30751445086705, 457.004209080179},
{1.31757225433526, 458.623015526914},
{1.32763005780347, 460.238728741943},
{1.33768786127168, 461.860881948233},
{1.34774566473988, 463.495649237401},
{1.35780346820809, 465.129826626932},
{1.36786127167630, 466.767033528504},
{1.37791907514451, 468.408766204263},
{1.38797687861272, 470.059173838784},
{1.39803468208092, 471.721126584341},
{1.40809248554913, 473.414912587257},
{1.41815028901734, 475.097553575053},
{1.42820809248555, 476.805256760032},
{1.43826589595376, 478.512506689219},
{1.44832369942197, 480.230235676597},
{1.45838150289017, 481.950516788809},
{1.46843930635838, 483.675596525192},
{1.47849710982659, 485.408520318711},
{1.48855491329480, 487.160694244723},
{1.49861271676301, 488.912737035966},
{1.50867052023121, 490.676335211920},
{1.51872832369942, 492.446193358219},
{1.52878612716763, 494.230761014528},
{1.53884393063584, 496.014213821540},
{1.54890173410405, 497.800012215749},
{1.55895953757225, 499.586844428474},
{1.56901734104046, 501.389791490613},
{1.57907514450867, 503.197873321221},
{1.58913294797688, 505.017976823598},
{1.59919075144509, 506.842077493572},
{1.60924855491329, 508.681008225194},
{1.61930635838150, 510.531745060971},
{1.62936416184971, 512.383464849326},
{1.63942196531792, 514.249250804510},
{1.64947976878613, 516.119098877381},
{1.65953757225434, 518.005308788433},
{1.66959537572254, 519.910761252352},
{1.67965317919075, 521.812275649970},
{1.68971098265896, 523.727747256148},
{1.69976878612717, 526.524959987653},
{1.70982658959538, 529.326074922632},
{1.71988439306358, 532.152158438731},
{1.72994219653179, 534.995939192065},
{1.74000000000000, 537.866310625605},};
//encuentra el mas cercano justo anterior.
// int index_E = LkTable.elem(find(LkTable<=t_disparo)).max();
arma::uvec index_E = find(LkTable<=t_disparo, 1, "last");
// index_E.print("indice E: ");
// uint kk = index_E(0);
if (index_E(0)<(LkTable.n_rows-1)){
double tdisparo1=LkTable(index_E(0),0);
double tdisparo2=LkTable(index_E(0)+1,0);
double E1=LkTable(index_E(0),1);
double E2=LkTable(index_E(0)+1,1);
E=(t_disparo-tdisparo1)*(E2-E1)/(tdisparo2-tdisparo1)+E1;
}else{
E=0;
}
return E;
}
std::vector<double> Vtl_Engine::get_position_ecef_m() std::vector<double> Vtl_Engine::get_position_ecef_m()
{ {
std::vector<double> temp = {42,42,42}; std::vector<double> temp = {42,42,42};

5
src/algorithms/PVT/libs/vtl_engine.h
View File

@ -66,6 +66,7 @@ private:
arma::colvec d; arma::colvec d;
arma::colvec rho_pri; arma::colvec rho_pri;
arma::colvec rhoDot_pri; arma::colvec rhoDot_pri;
arma::colvec rhoDot2_pri;
arma::colvec rho_pri_filt; arma::colvec rho_pri_filt;
arma::colvec rhoDot_pri_filt; arma::colvec rhoDot_pri_filt;
arma::colvec doppler_hz_filt; arma::colvec doppler_hz_filt;
@ -103,7 +104,9 @@ private:
bool 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 bool 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
bool kf_F_fill(arma::mat &kf_F,double kf_dt); // System Matrix constructor bool kf_F_fill(arma::mat &kf_F,double kf_dt); // System Matrix constructor
bool obsv_calc(arma::mat &rho_pri,arma::mat &rhoDot_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 bool obsv_calc(arma::mat &rho_pri,arma::mat &rhoDot_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
bool kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x); bool 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);
bool model3DoF(double &acc_x,double &acc_y,double &acc_z,arma::mat kf_x,double dt, int counter);
double EmpujeLkTable(double t_disparo);
}; };
/** \} */ /** \} */

28
src/algorithms/tracking/gnuradio_blocks/kf_tracking.cc
View File

@ -657,18 +657,28 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
double old_doppler_rate = d_x_old_old(3); double old_doppler_rate = d_x_old_old(3);
double old_code_phase_chips = d_x_old_old(0); double old_code_phase_chips = d_x_old_old(0);
if(cmd->enable_carrier_nco_cmd){
if(cmd->enable_code_nco_cmd){
if(abs(d_x_old_old(2) - tmp_x(2))>50){ if(abs(d_x_old_old(2) - tmp_x(2))>50){
// std::cout << " tracking_cmd TOO FAR: " std::cout <<"channel: "<< this->d_channel
// << abs(d_x_old_old(2) - tmp_x(2))<< "Hz" << " tracking_cmd TOO FAR: "
// << " \n"; << abs(d_x_old_old(2) - tmp_x(2))<< "Hz"
<< " \n";
}else{ }else{
// std::cout << " tracking_cmd NEAR: " std::cout <<"channel: "<< this->d_channel
// << abs(d_x_old_old(2) - tmp_x(2))<< "Hz" << " tracking_cmd NEAR: "
// << " \n"; << abs(d_x_old_old(2) - tmp_x(2))<< "Hz"
//d_x_old_old(2) = tmp_x(2); //replace the Code Phase state << " \n";
} }
d_x_old_old(2) = tmp_x(2); //replace DOPPLER
// d_x_old_old(3) = tmp_x(3); //replace DOPPLER RATE
//d_x_old_old(0) = tmp_x(0); //replace the Code Phase state }else{
// std::cout<<"yet to soon"<<std::endl;
//d_x_old_old(2) = tmp_x(2); //replace DOPPLER
// d_x_old_old(3) = tmp_x(3); //replace DOPPLER RATE
}
}
// set vtl corrections flag to inform VTL from gnss_synchro object // set vtl corrections flag to inform VTL from gnss_synchro object
d_vtl_cmd_applied_now = true; d_vtl_cmd_applied_now = true;
@ -698,7 +708,7 @@ void kf_tracking::msg_handler_pvt_to_trk(const pmt::pmt_t &msg)
else else
{ {
dump_tracking_file << "doppler_corr" dump_tracking_file << "doppler_corr"
<< ","<< this->d_channel << "," << x_tmp(2) << "," << old_doppler << "," << old_doppler_rate << "," << old_code_phase_chips << "\n"; << ","<< this->d_channel << "," << tmp_x(2) << "," << old_doppler << "," << tmp_x(3)<< "," << old_doppler_rate << "\n";
dump_tracking_file.close(); dump_tracking_file.close();
} }
} }