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Merge pull request #169 from rosflight/168-consistent-bias
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Added consistent bias seed.
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@JMoore5353
JMoore5353 committed Jun 6, 2024
2 parents 63781be + 0ff5115 commit b56849e
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Showing 2 changed files with 63 additions and 59 deletions.
3 changes: 2 additions & 1 deletion rosflight_sim/include/rosflight_sim/sil_board.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,8 @@ class SILBoard : public UDPBoard
double baro_bias_ = 0;
double airspeed_bias_ = 0;

std::default_random_engine random_generator_;
std::default_random_engine bias_generator_;
std::default_random_engine noise_generator_;
std::normal_distribution<double> normal_distribution_;
std::uniform_real_distribution<double> uniform_distribution_;

Expand Down
119 changes: 61 additions & 58 deletions rosflight_sim/src/sil_board.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,10 @@ namespace rosflight_sim
{
SILBoard::SILBoard()
: UDPBoard()
, random_generator_(std::chrono::system_clock::now().time_since_epoch().count())
// , bias_generator_(std::chrono::system_clock::now().time_since_epoch().count()) // Uncomment if you would like to
// have bias biases for the sensors on each flight. Delete next line.
, bias_generator_(0)
, noise_generator_(std::chrono::system_clock::now().time_since_epoch().count())
{}

void SILBoard::init_board() { boot_time_ = GZ_COMPAT_GET_SIM_TIME(world_); }
Expand Down Expand Up @@ -132,17 +135,17 @@ void SILBoard::gazebo_setup(gazebo::physics::LinkPtr link, gazebo::physics::Worl
gravity_ = GZ_COMPAT_GET_GRAVITY(world_);

// Initialize the Sensor Biases
GZ_COMPAT_SET_X(gyro_bias_, gyro_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Y(gyro_bias_, gyro_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Z(gyro_bias_, gyro_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_X(acc_bias_, acc_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Y(acc_bias_, acc_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Z(acc_bias_, acc_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_X(mag_bias_, mag_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Y(mag_bias_, mag_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Z(mag_bias_, mag_bias_range_ * uniform_distribution_(random_generator_));
baro_bias_ = baro_bias_range_ * uniform_distribution_(random_generator_);
airspeed_bias_ = airspeed_bias_range_ * uniform_distribution_(random_generator_);
GZ_COMPAT_SET_X(gyro_bias_, gyro_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Y(gyro_bias_, gyro_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Z(gyro_bias_, gyro_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_X(acc_bias_, acc_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Y(acc_bias_, acc_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Z(acc_bias_, acc_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_X(mag_bias_, mag_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Y(mag_bias_, mag_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Z(mag_bias_, mag_bias_range_ * uniform_distribution_(bias_generator_));
baro_bias_ = baro_bias_range_ * uniform_distribution_(bias_generator_);
airspeed_bias_ = airspeed_bias_range_ * uniform_distribution_(bias_generator_);

prev_vel_1_ = GZ_COMPAT_GET_RELATIVE_LINEAR_VEL(link_);
prev_vel_2_ = GZ_COMPAT_GET_RELATIVE_LINEAR_VEL(link_);
Expand Down Expand Up @@ -194,12 +197,12 @@ uint16_t SILBoard::serial_bytes_available()
void SILBoard::sensors_init()
{
// Initialize the Biases
GZ_COMPAT_SET_X(gyro_bias_, gyro_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Y(gyro_bias_, gyro_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Z(gyro_bias_, gyro_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_X(acc_bias_, acc_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Y(acc_bias_, acc_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_Z(acc_bias_, acc_bias_range_ * uniform_distribution_(random_generator_));
GZ_COMPAT_SET_X(gyro_bias_, gyro_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Y(gyro_bias_, gyro_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Z(gyro_bias_, gyro_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_X(acc_bias_, acc_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Y(acc_bias_, acc_bias_range_ * uniform_distribution_(bias_generator_));
GZ_COMPAT_SET_Z(acc_bias_, acc_bias_range_ * uniform_distribution_(bias_generator_));

// Gazebo coordinates is NWU and Earth's magnetic field is defined in NED, hence the negative signs
double inclination_ = 1.14316156541;
Expand Down Expand Up @@ -250,23 +253,23 @@ bool SILBoard::imu_read(float accel[3], float * temperature, float gyro[3], uint
// Apply normal noise (only if armed, because most of the noise comes from motors
if (motors_spinning()) {
GZ_COMPAT_SET_X(y_acc,
GZ_COMPAT_GET_X(y_acc) + acc_stdev_ * normal_distribution_(random_generator_));
GZ_COMPAT_GET_X(y_acc) + acc_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Y(y_acc,
GZ_COMPAT_GET_Y(y_acc) + acc_stdev_ * normal_distribution_(random_generator_));
GZ_COMPAT_GET_Y(y_acc) + acc_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Z(y_acc,
GZ_COMPAT_GET_Z(y_acc) + acc_stdev_ * normal_distribution_(random_generator_));
GZ_COMPAT_GET_Z(y_acc) + acc_stdev_ * normal_distribution_(noise_generator_));
}

// Perform Random Walk for biases
// Perform bias Walk for biases
GZ_COMPAT_SET_X(acc_bias_,
GZ_COMPAT_GET_X(acc_bias_)
+ acc_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ acc_bias_walk_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Y(acc_bias_,
GZ_COMPAT_GET_Y(acc_bias_)
+ acc_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ acc_bias_walk_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Z(acc_bias_,
GZ_COMPAT_GET_Z(acc_bias_)
+ acc_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ acc_bias_walk_stdev_ * normal_distribution_(noise_generator_));

// Add constant Bias to measurement
GZ_COMPAT_SET_X(y_acc, GZ_COMPAT_GET_X(y_acc) + GZ_COMPAT_GET_X(acc_bias_));
Expand All @@ -283,23 +286,23 @@ bool SILBoard::imu_read(float accel[3], float * temperature, float gyro[3], uint
// Normal Noise from motors
if (motors_spinning()) {
GZ_COMPAT_SET_X(
y_gyro, GZ_COMPAT_GET_X(y_gyro) + gyro_stdev_ * normal_distribution_(random_generator_));
y_gyro, GZ_COMPAT_GET_X(y_gyro) + gyro_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Y(
y_gyro, GZ_COMPAT_GET_Y(y_gyro) + gyro_stdev_ * normal_distribution_(random_generator_));
y_gyro, GZ_COMPAT_GET_Y(y_gyro) + gyro_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Z(
y_gyro, GZ_COMPAT_GET_Z(y_gyro) + gyro_stdev_ * normal_distribution_(random_generator_));
y_gyro, GZ_COMPAT_GET_Z(y_gyro) + gyro_stdev_ * normal_distribution_(noise_generator_));
}

// Random Walk for bias
// bias Walk for bias
GZ_COMPAT_SET_X(gyro_bias_,
GZ_COMPAT_GET_X(gyro_bias_)
+ gyro_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ gyro_bias_walk_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Y(gyro_bias_,
GZ_COMPAT_GET_Y(gyro_bias_)
+ gyro_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ gyro_bias_walk_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Z(gyro_bias_,
GZ_COMPAT_GET_Z(gyro_bias_)
+ gyro_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ gyro_bias_walk_stdev_ * normal_distribution_(noise_generator_));

// Apply Constant Bias
GZ_COMPAT_SET_X(y_gyro, GZ_COMPAT_GET_X(y_gyro) + GZ_COMPAT_GET_X(gyro_bias_));
Expand All @@ -325,20 +328,20 @@ void SILBoard::mag_read(float mag[3])
{
GazeboPose I_to_B = GZ_COMPAT_GET_WORLD_POSE(link_);
GazeboVector noise;
GZ_COMPAT_SET_X(noise, mag_stdev_ * normal_distribution_(random_generator_));
GZ_COMPAT_SET_Y(noise, mag_stdev_ * normal_distribution_(random_generator_));
GZ_COMPAT_SET_Z(noise, mag_stdev_ * normal_distribution_(random_generator_));
GZ_COMPAT_SET_X(noise, mag_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Y(noise, mag_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Z(noise, mag_stdev_ * normal_distribution_(noise_generator_));

// Random Walk for bias
// bias Walk for bias
GZ_COMPAT_SET_X(mag_bias_,
GZ_COMPAT_GET_X(mag_bias_)
+ mag_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ mag_bias_walk_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Y(mag_bias_,
GZ_COMPAT_GET_Y(mag_bias_)
+ mag_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ mag_bias_walk_stdev_ * normal_distribution_(noise_generator_));
GZ_COMPAT_SET_Z(mag_bias_,
GZ_COMPAT_GET_Z(mag_bias_)
+ mag_bias_walk_stdev_ * normal_distribution_(random_generator_));
+ mag_bias_walk_stdev_ * normal_distribution_(noise_generator_));

// combine parts to create a measurement
GazeboVector y_mag =
Expand Down Expand Up @@ -366,12 +369,12 @@ void SILBoard::baro_read(float * pressure, float * temperature)
double y_baro = 101325.0f * (float) pow((1 - 2.25694e-5 * alt), 5.2553); // Add these parameters to the parameters.

// Add noise
y_baro += baro_stdev_ * normal_distribution_(random_generator_);
y_baro += baro_stdev_ * normal_distribution_(noise_generator_);

// Perform random walk
baro_bias_ += baro_bias_walk_stdev_ * normal_distribution_(random_generator_);
// Perform bias walk
baro_bias_ += baro_bias_walk_stdev_ * normal_distribution_(noise_generator_);

// Add random walk
// Add bias walk
y_baro += baro_bias_;

(*pressure) = (float) y_baro;
Expand All @@ -398,8 +401,8 @@ void SILBoard::diff_pressure_read(float * diff_pressure, float * temperature)
double y_as = rho_ * Va * Va / 2.0; // Page 130 in the UAV Book

// Add noise
y_as += airspeed_stdev_ * normal_distribution_(random_generator_);
airspeed_bias_ += airspeed_bias_walk_stdev_ * normal_distribution_(random_generator_);
y_as += airspeed_stdev_ * normal_distribution_(noise_generator_);
airspeed_bias_ += airspeed_bias_walk_stdev_ * normal_distribution_(noise_generator_);
y_as += airspeed_bias_;

*diff_pressure = (float) y_as;
Expand All @@ -418,7 +421,7 @@ float SILBoard::sonar_read()
} else if (alt > sonar_max_range_) {
return (float) sonar_max_range_;
} else {
return (float) (alt + sonar_stdev_ * normal_distribution_(random_generator_));
return (float) (alt + sonar_stdev_ * normal_distribution_(noise_generator_));
}
}

Expand Down Expand Up @@ -573,15 +576,15 @@ rosflight_firmware::GNSSData SILBoard::gnss_read()
using Coord = gazebo::common::SphericalCoordinates::CoordinateType;

GazeboPose local_pose = GZ_COMPAT_GET_WORLD_POSE(link_);
Vec3 pos_noise(horizontal_gps_stdev_ * normal_distribution_(random_generator_),
horizontal_gps_stdev_ * normal_distribution_(random_generator_),
vertical_gps_stdev_ * normal_distribution_(random_generator_));
Vec3 pos_noise(horizontal_gps_stdev_ * normal_distribution_(noise_generator_),
horizontal_gps_stdev_ * normal_distribution_(noise_generator_),
vertical_gps_stdev_ * normal_distribution_(noise_generator_));
Vec3 local_pos = GZ_COMPAT_GET_POS(local_pose) + pos_noise;

Vec3 local_vel = GZ_COMPAT_GET_WORLD_LINEAR_VEL(link_);
Vec3 vel_noise(gps_velocity_stdev_ * normal_distribution_(random_generator_),
gps_velocity_stdev_ * normal_distribution_(random_generator_),
gps_velocity_stdev_ * normal_distribution_(random_generator_));
Vec3 vel_noise(gps_velocity_stdev_ * normal_distribution_(noise_generator_),
gps_velocity_stdev_ * normal_distribution_(noise_generator_),
gps_velocity_stdev_ * normal_distribution_(noise_generator_));
local_vel += vel_noise;

Vec3 ecef_pos = sph_coord_.PositionTransform(local_pos, Coord::LOCAL, Coord::ECEF);
Expand Down Expand Up @@ -631,15 +634,15 @@ rosflight_firmware::GNSSFull SILBoard::gnss_full_read()
using Coord = gazebo::common::SphericalCoordinates::CoordinateType;

GazeboPose local_pose = GZ_COMPAT_GET_WORLD_POSE(link_);
Vec3 pos_noise(horizontal_gps_stdev_ * normal_distribution_(random_generator_),
horizontal_gps_stdev_ * normal_distribution_(random_generator_),
vertical_gps_stdev_ * normal_distribution_(random_generator_));
Vec3 pos_noise(horizontal_gps_stdev_ * normal_distribution_(noise_generator_),
horizontal_gps_stdev_ * normal_distribution_(noise_generator_),
vertical_gps_stdev_ * normal_distribution_(noise_generator_));
Vec3 local_pos = GZ_COMPAT_GET_POS(local_pose) + pos_noise;

Vec3 local_vel = GZ_COMPAT_GET_WORLD_LINEAR_VEL(link_);
Vec3 vel_noise(gps_velocity_stdev_ * normal_distribution_(random_generator_),
gps_velocity_stdev_ * normal_distribution_(random_generator_),
gps_velocity_stdev_ * normal_distribution_(random_generator_));
Vec3 vel_noise(gps_velocity_stdev_ * normal_distribution_(noise_generator_),
gps_velocity_stdev_ * normal_distribution_(noise_generator_),
gps_velocity_stdev_ * normal_distribution_(noise_generator_));
local_vel += vel_noise;

// TODO: Do a better job of simulating the wander of GPS
Expand Down

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