-
Notifications
You must be signed in to change notification settings - Fork 172
/
TestCore.cpp
395 lines (329 loc) · 17.2 KB
/
TestCore.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
#include <gtest/gtest.h>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <cmath>
#include "UKF/Types.h"
#include "UKF/Integrator.h"
#include "UKF/StateVector.h"
#include "UKF/MeasurementVector.h"
#include "UKF/Core.h"
#include "comparisons.h"
/* Set up state vector class. */
enum MyStateFields {
Position,
Velocity,
Attitude,
AngularVelocity
};
using MyStateVector = UKF::StateVector<
UKF::Field<Position, UKF::Vector<3>>,
UKF::Field<Velocity, UKF::Vector<3>>,
UKF::Field<Attitude, UKF::Quaternion>,
UKF::Field<AngularVelocity, UKF::Vector<3>>
>;
namespace UKF {
namespace Parameters {
template <> constexpr real_t AlphaSquared<MyStateVector> = 1e-6;
}
/*
State vector process model. One version takes body frame kinematic
acceleration and angular acceleration as inputs, the other doesn't (assumes
zero accelerations).
*/
template <> template <>
MyStateVector MyStateVector::derivative<UKF::Vector<3>, UKF::Vector<3>>(
const UKF::Vector<3>& acceleration, const UKF::Vector<3>& angular_acceleration) const {
MyStateVector temp;
/* Position derivative. */
temp.set_field<Position>(get_field<Velocity>());
/* Velocity derivative. */
temp.set_field<Velocity>(get_field<Attitude>().conjugate() * acceleration);
/* Attitude derivative. */
UKF::Quaternion temp_q;
temp_q.vec() = get_field<AngularVelocity>();
temp_q.w() = 0;
temp.set_field<Attitude>(temp_q);
/* Angular velocity derivative. */
temp.set_field<AngularVelocity>(angular_acceleration);
return temp;
}
template <> template <>
MyStateVector MyStateVector::derivative<>() const {
return derivative(UKF::Vector<3>(0, 0, 0), UKF::Vector<3>(0, 0, 0));
}
}
/* Set up measurement vector class. */
enum MyMeasurementFields {
GPS_Position,
GPS_Velocity,
Accelerometer,
Magnetometer,
Gyroscope
};
using MyMeasurementVector = UKF::DynamicMeasurementVector<
UKF::Field<GPS_Position, UKF::Vector<3>>,
UKF::Field<GPS_Velocity, UKF::Vector<3>>,
UKF::Field<Accelerometer, UKF::Vector<3>>,
UKF::Field<Magnetometer, UKF::FieldVector>,
UKF::Field<Gyroscope, UKF::Vector<3>>
>;
using MyCore = UKF::Core<
MyStateVector,
MyMeasurementVector,
UKF::IntegratorRK4
>;
namespace UKF {
/*
Define measurement model to be used in tests. NOTE: These are just for
testing, don't expect them to make any physical sense whatsoever.
*/
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, GPS_Position>(const MyStateVector& state) {
return state.get_field<Position>();
}
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, GPS_Velocity>(const MyStateVector& state) {
return state.get_field<Velocity>();
}
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, Accelerometer>(const MyStateVector& state) {
return state.get_field<Attitude>() * UKF::Vector<3>(0, 0, -9.8);
}
template <> template <>
UKF::FieldVector MyMeasurementVector::expected_measurement
<MyStateVector, Magnetometer>(const MyStateVector& state) {
return state.get_field<Attitude>() * UKF::FieldVector(1, 0, 0);
}
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, Gyroscope>(const MyStateVector& state) {
return state.get_field<AngularVelocity>();
}
/*
These versions of the predicted measurement functions take kinematic
acceleration and angular acceleration as inputs. Note that in reality, the
inputs would probably be a control vector and the accelerations would be
calculated using the state vector and a dynamics model.
*/
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, GPS_Position>(const MyStateVector& state,
const UKF::Vector<3>& acceleration, const UKF::Vector<3>& angular_acceleration) {
return state.get_field<Position>();
}
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, GPS_Velocity>(const MyStateVector& state,
const UKF::Vector<3>& acceleration, const UKF::Vector<3>& angular_acceleration) {
return state.get_field<Velocity>();
}
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, Accelerometer, UKF::Vector<3>>(const MyStateVector& state,
const UKF::Vector<3>& acceleration, const UKF::Vector<3>& angular_acceleration) {
return state.get_field<Attitude>() * UKF::Vector<3>(0, 0, -9.8) + acceleration;
}
template <> template <>
UKF::FieldVector MyMeasurementVector::expected_measurement
<MyStateVector, Magnetometer, UKF::Vector<3>>(const MyStateVector& state,
const UKF::Vector<3>& acceleration, const UKF::Vector<3>& angular_acceleration) {
return state.get_field<Attitude>() * UKF::FieldVector(1, 0, 0);
}
template <> template <>
UKF::Vector<3> MyMeasurementVector::expected_measurement
<MyStateVector, Gyroscope, UKF::Vector<3>>(const MyStateVector& state,
const UKF::Vector<3>& acceleration, const UKF::Vector<3>& angular_acceleration) {
return state.get_field<AngularVelocity>();
}
}
MyCore create_initialised_test_filter() {
MyCore test_filter;
test_filter.state.set_field<Position>(UKF::Vector<3>(0, 0, 0));
test_filter.state.set_field<Velocity>(UKF::Vector<3>(0, 0, 0));
test_filter.state.set_field<Attitude>(UKF::Quaternion(1, 0, 0, 0));
test_filter.state.set_field<AngularVelocity>(UKF::Vector<3>(0, 0, 0));
test_filter.covariance = MyStateVector::CovarianceMatrix::Zero();
test_filter.covariance.diagonal() << 10000, 10000, 10000, 100, 100, 100, 1, 1, 5, 10, 10, 10;
test_filter.measurement_covariance << 10, 10, 10, 1, 1, 1, 5e-1, 5e-1, 5e-1, 5e-1, 5e-1, 5e-1, 0.05, 0.05, 0.05;
real_t a, b;
real_t dt = 0.01;
a = std::sqrt(0.1*dt*dt);
b = std::sqrt(0.1*dt);
test_filter.process_noise_covariance << a, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, a, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, a, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, b, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, b, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, b, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, a, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, a, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, a, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, b, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, b;
return test_filter;
}
TEST(CoreTest, Initialisation) {
MyCore test_filter = create_initialised_test_filter();
}
/*
All these tests check that the estimated state matches the 'actual' state to
within 2-sigma.
*/
TEST(CoreTest, APrioriStep) {
MyCore test_filter = create_initialised_test_filter();
test_filter.a_priori_step(0.01);
EXPECT_GT(test_filter.covariance.determinant(), std::numeric_limits<real_t>::epsilon());
EXPECT_LT((UKF::Vector<3>(100, 10, -50) - test_filter.state.get_field<Position>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(0).norm())*2);
EXPECT_LT((UKF::Vector<3>(20, 0, 0) - test_filter.state.get_field<Velocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(3).norm())*2);
EXPECT_LT(2*std::acos(std::abs(UKF::Quaternion(0.7071, 0, 0, -0.7071).dot(test_filter.state.get_field<Attitude>()))),
std::sqrt(test_filter.covariance.diagonal().segment<3>(6).norm())*2);
EXPECT_LT((UKF::Vector<3>(0.5, 0, 0) - test_filter.state.get_field<AngularVelocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(9).norm())*2);
}
TEST(CoreTest, APrioriStepWithInputs) {
MyCore test_filter = create_initialised_test_filter();
test_filter.a_priori_step(0.01, UKF::Vector<3>(0, 0, -5), UKF::Vector<3>(1, 0, 0));
EXPECT_GT(test_filter.covariance.determinant(), std::numeric_limits<real_t>::epsilon());
EXPECT_LT((UKF::Vector<3>(100, 10, -50) - test_filter.state.get_field<Position>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(0).norm())*2);
EXPECT_LT((UKF::Vector<3>(20, 0, 0) - test_filter.state.get_field<Velocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(3).norm())*2);
EXPECT_LT(2*std::acos(std::abs(UKF::Quaternion(0.7071, 0, 0, -0.7071).dot(test_filter.state.get_field<Attitude>()))),
std::sqrt(test_filter.covariance.diagonal().segment<3>(6).norm())*2);
EXPECT_LT((UKF::Vector<3>(0.5, 0, 0) - test_filter.state.get_field<AngularVelocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(9).norm())*2);
}
TEST(CoreTest, InnovationStep) {
MyCore test_filter = create_initialised_test_filter();
MyMeasurementVector m;
m.set_field<GPS_Position>(UKF::Vector<3>(100, 10, -50));
m.set_field<GPS_Velocity>(UKF::Vector<3>(20, 0, 0));
m.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -9.8));
m.set_field<Magnetometer>(UKF::FieldVector(0, -1, 0));
m.set_field<Gyroscope>(UKF::Vector<3>(0.5, 0, 0));
test_filter.a_priori_step(0.01);
test_filter.innovation_step(m);
/*
With the field vector, we expect the determinant to be approximately zero,
so allow for it to be slightly negative due to numerical precision.
*/
EXPECT_GE(test_filter.innovation_covariance.determinant(), -std::numeric_limits<real_t>::epsilon());
test_filter.a_posteriori_step();
EXPECT_GT(test_filter.covariance.determinant(), std::numeric_limits<real_t>::epsilon());
EXPECT_LT((UKF::Vector<3>(100, 10, -50) - test_filter.state.get_field<Position>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(0).norm())*2);
EXPECT_LT((UKF::Vector<3>(20, 0, 0) - test_filter.state.get_field<Velocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(3).norm())*2);
EXPECT_LT(2*std::acos(std::abs(UKF::Quaternion(0.7071, 0, 0, -0.7071).dot(test_filter.state.get_field<Attitude>()))),
std::sqrt(test_filter.covariance.diagonal().segment<3>(6).norm())*2);
EXPECT_LT((UKF::Vector<3>(0.5, 0, 0) - test_filter.state.get_field<AngularVelocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(9).norm())*2);
}
TEST(CoreTest, InnovationStepPartialMeasurement) {
MyCore test_filter = create_initialised_test_filter();
MyMeasurementVector m;
m.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -9.8));
m.set_field<Magnetometer>(UKF::FieldVector(0, -1, 0));
m.set_field<Gyroscope>(UKF::Vector<3>(0.5, 0, 0));
test_filter.a_priori_step(0.01);
test_filter.innovation_step(m);
EXPECT_GE(test_filter.innovation_covariance.determinant(), -std::numeric_limits<real_t>::epsilon());
test_filter.a_posteriori_step();
EXPECT_GT(test_filter.covariance.determinant(), std::numeric_limits<real_t>::epsilon());
EXPECT_LT((UKF::Vector<3>(100, 10, -50) - test_filter.state.get_field<Position>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(0).norm())*2);
EXPECT_LT((UKF::Vector<3>(20, 0, 0) - test_filter.state.get_field<Velocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(3).norm())*2);
EXPECT_LT(2*std::acos(std::abs(UKF::Quaternion(0.7071, 0, 0, -0.7071).dot(test_filter.state.get_field<Attitude>()))),
std::sqrt(test_filter.covariance.diagonal().segment<3>(6).norm())*2);
EXPECT_LT((UKF::Vector<3>(0.5, 0, 0) - test_filter.state.get_field<AngularVelocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(9).norm())*2);
}
TEST(CoreTest, InnovationStepWithInputs) {
MyCore test_filter = create_initialised_test_filter();
MyMeasurementVector m;
m.set_field<GPS_Position>(UKF::Vector<3>(100, 10, -50));
m.set_field<GPS_Velocity>(UKF::Vector<3>(20, 0, 0));
m.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -15));
m.set_field<Magnetometer>(UKF::FieldVector(0, -1, 0));
m.set_field<Gyroscope>(UKF::Vector<3>(0.5, 0, 0));
test_filter.a_priori_step(0.01, UKF::Vector<3>(0, 0, -5), UKF::Vector<3>(1, 0, 0));
test_filter.innovation_step(m, UKF::Vector<3>(0, 0, -5), UKF::Vector<3>(1, 0, 0));
EXPECT_GE(test_filter.innovation_covariance.determinant(), -std::numeric_limits<real_t>::epsilon());
test_filter.a_posteriori_step();
EXPECT_GT(test_filter.covariance.determinant(), std::numeric_limits<real_t>::epsilon());
EXPECT_LT((UKF::Vector<3>(100, 10, -50) - test_filter.state.get_field<Position>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(0).norm())*2);
EXPECT_LT((UKF::Vector<3>(20, 0, 0) - test_filter.state.get_field<Velocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(3).norm())*2);
EXPECT_LT(2*std::acos(std::abs(UKF::Quaternion(0.7071, 0, 0, -0.7071).dot(test_filter.state.get_field<Attitude>()))),
std::sqrt(test_filter.covariance.diagonal().segment<3>(6).norm())*2);
EXPECT_LT((UKF::Vector<3>(0.5, 0, 0) - test_filter.state.get_field<AngularVelocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(9).norm())*2);
}
TEST(CoreTest, InnovationStepPartialMeasurementWithInputs) {
MyCore test_filter = create_initialised_test_filter();
MyMeasurementVector m;
m.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -15));
m.set_field<Magnetometer>(UKF::FieldVector(0, -1, 0));
m.set_field<Gyroscope>(UKF::Vector<3>(0.5, 0, 0));
test_filter.a_priori_step(0.01, UKF::Vector<3>(0, 0, -5), UKF::Vector<3>(1, 0, 0));
test_filter.innovation_step(m, UKF::Vector<3>(0, 0, -5), UKF::Vector<3>(1, 0, 0));
EXPECT_GE(test_filter.innovation_covariance.determinant(), -std::numeric_limits<real_t>::epsilon());
test_filter.a_posteriori_step();
EXPECT_GT(test_filter.covariance.determinant(), std::numeric_limits<real_t>::epsilon());
EXPECT_LT((UKF::Vector<3>(100, 10, -50) - test_filter.state.get_field<Position>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(0).norm())*2);
EXPECT_LT((UKF::Vector<3>(20, 0, 0) - test_filter.state.get_field<Velocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(3).norm())*2);
EXPECT_LT(2*std::acos(std::abs(UKF::Quaternion(0.7071, 0, 0, -0.7071).dot(test_filter.state.get_field<Attitude>()))),
std::sqrt(test_filter.covariance.diagonal().segment<3>(6).norm())*2);
EXPECT_LT((UKF::Vector<3>(0.5, 0, 0) - test_filter.state.get_field<AngularVelocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(9).norm())*2);
}
TEST(CoreTest, APosterioriStep) {
MyCore test_filter = create_initialised_test_filter();
MyMeasurementVector m;
m.set_field<GPS_Position>(UKF::Vector<3>(100, 10, -50));
m.set_field<GPS_Velocity>(UKF::Vector<3>(20, 0, 0));
m.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -9.8));
m.set_field<Magnetometer>(UKF::FieldVector(0, -1, 0));
m.set_field<Gyroscope>(UKF::Vector<3>(0.5, 0, 0));
test_filter.a_priori_step(0.01);
test_filter.innovation_step(m);
test_filter.a_posteriori_step();
EXPECT_GT(test_filter.covariance.determinant(), std::numeric_limits<real_t>::epsilon());
EXPECT_LT((UKF::Vector<3>(100, 10, -50) - test_filter.state.get_field<Position>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(0).norm())*2);
EXPECT_LT((UKF::Vector<3>(20, 0, 0) - test_filter.state.get_field<Velocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(3).norm())*2);
EXPECT_LT(2*std::acos(std::abs(UKF::Quaternion(0.7071, 0, 0, -0.7071).dot(test_filter.state.get_field<Attitude>()))),
std::sqrt(test_filter.covariance.diagonal().segment<3>(6).norm())*2);
EXPECT_LT((UKF::Vector<3>(0.5, 0, 0) - test_filter.state.get_field<AngularVelocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(9).norm())*2);
}
TEST(CoreTest, FullStep) {
MyCore test_filter = create_initialised_test_filter();
MyMeasurementVector m;
m.set_field<GPS_Position>(UKF::Vector<3>(100, 10, -50));
m.set_field<GPS_Velocity>(UKF::Vector<3>(20, 0, 0));
m.set_field<Accelerometer>(UKF::Vector<3>(0, 0, -14.8));
m.set_field<Magnetometer>(UKF::FieldVector(0, -1, 0));
m.set_field<Gyroscope>(UKF::Vector<3>(0.5, 0, 0));
test_filter.step(0.01, m, UKF::Vector<3>(0, 0, -5), UKF::Vector<3>(1, 0, 0));
EXPECT_GT(test_filter.covariance.determinant(), std::numeric_limits<real_t>::epsilon());
EXPECT_LT((UKF::Vector<3>(100, 10, -50) - test_filter.state.get_field<Position>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(0).norm())*2);
EXPECT_LT((UKF::Vector<3>(20, 0, 0) - test_filter.state.get_field<Velocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(3).norm())*2);
EXPECT_LT(2*std::acos(std::abs(UKF::Quaternion(0.7071, 0, 0, -0.7071).dot(test_filter.state.get_field<Attitude>()))),
std::sqrt(test_filter.covariance.diagonal().segment<3>(6).norm())*2);
EXPECT_LT((UKF::Vector<3>(0.5, 0, 0) - test_filter.state.get_field<AngularVelocity>()).norm(),
std::sqrt(test_filter.covariance.diagonal().segment<3>(9).norm())*2);
}