/
ImuSimple.hpp
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/
ImuSimple.hpp
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// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.
#ifndef msr_airlib_SimpleImu_hpp
#define msr_airlib_SimpleImu_hpp
#include "common/Common.hpp"
#include "ImuSimpleParams.hpp"
#include "ImuBase.hpp"
namespace msr { namespace airlib {
class ImuSimple : public ImuBase {
public:
//constructors
ImuSimple(const AirSimSettings::ImuSetting& setting = AirSimSettings::ImuSetting())
: ImuBase(setting.sensor_name)
{
// initialize params
params_.initializeFromSettings(setting);
gyro_bias_stability_norm = params_.gyro.bias_stability / sqrt(params_.gyro.tau);
accel_bias_stability_norm = params_.accel.bias_stability / sqrt(params_.accel.tau);
}
//*** Start: UpdatableState implementation ***//
virtual void resetImplementation() override
{
last_time_ = clock()->nowNanos();
state_.gyroscope_bias = params_.gyro.turn_on_bias;
state_.accelerometer_bias = params_.accel.turn_on_bias;
gauss_dist.reset();
updateOutput();
}
virtual void update() override
{
ImuBase::update();
updateOutput();
}
//*** End: UpdatableState implementation ***//
virtual ~ImuSimple() = default;
private: //methods
void updateOutput()
{
Output output;
const GroundTruth& ground_truth = getGroundTruth();
output.angular_velocity = ground_truth.kinematics->twist.angular;
output.linear_acceleration = ground_truth.kinematics->accelerations.linear - ground_truth.environment->getState().gravity;
output.orientation = ground_truth.kinematics->pose.orientation;
//acceleration is in world frame so transform to body frame
output.linear_acceleration = VectorMath::transformToBodyFrame(output.linear_acceleration,
ground_truth.kinematics->pose.orientation, true);
//add noise
addNoise(output.linear_acceleration, output.angular_velocity);
// TODO: Add noise in orientation?
output.time_stamp = clock()->nowNanos();
setOutput(output);
}
void addNoise(Vector3r& linear_acceleration, Vector3r& angular_velocity)
{
TTimeDelta dt = clock()->updateSince(last_time_);
//ref: An introduction to inertial navigation, Oliver J. Woodman, Sec 3.2, pp 10-12
//https://www.cl.cam.ac.uk/techreports/UCAM-CL-TR-696.pdf
real_T sqrt_dt = static_cast<real_T>(sqrt(std::max<TTimeDelta>(dt, params_.min_sample_time)));
// Gyrosocpe
//convert arw to stddev
real_T gyro_sigma_arw = params_.gyro.arw / sqrt_dt;
angular_velocity += gauss_dist.next() * gyro_sigma_arw + state_.gyroscope_bias;
//update bias random walk
real_T gyro_sigma_bias = gyro_bias_stability_norm * sqrt_dt;
state_.gyroscope_bias += gauss_dist.next() * gyro_sigma_bias;
//accelerometer
//convert vrw to stddev
real_T accel_sigma_vrw = params_.accel.vrw / sqrt_dt;
linear_acceleration += gauss_dist.next() * accel_sigma_vrw + state_.accelerometer_bias;
//update bias random walk
real_T accel_sigma_bias = accel_bias_stability_norm * sqrt_dt;
state_.accelerometer_bias += gauss_dist.next() * accel_sigma_bias;
}
private: //fields
ImuSimpleParams params_;
RandomVectorGaussianR gauss_dist = RandomVectorGaussianR(0, 1);
//cached calculated values
real_T gyro_bias_stability_norm, accel_bias_stability_norm;
struct State {
Vector3r gyroscope_bias;
Vector3r accelerometer_bias;
} state_;
TTimePoint last_time_;
};
}} //namespace
#endif