-
Notifications
You must be signed in to change notification settings - Fork 9
/
yinsapp.c
239 lines (209 loc) · 7.14 KB
/
yinsapp.c
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
#include "yinsapp.h"
#include "yins_core/insmacro.h"
typedef struct{
bool isa_imu;
bool isa_pps;
imud_t imud;
bool isa_gnss;
gtime_t time;
v3_t reg_e;
m3_t Qreg_e;
v3_t veg_e;
m3_t Qveg_e;
enum SOL stat;
bool isa_gnss_yaw2;
double yaw2;
double yaw2_std;
bool isa_od;
double dS;
} prod_t;
void yinsapp_data_reset(yinsapp_data_t * appdata)
{
appdata->week = 0;
appdata->sow = 0.0;
appdata->isa_imu = false;
appdata->isa_pps = false;
appdata->isa_gnss = false;
appdata->isa_od = false;
for(int i = 0; i < 3; ++i){
appdata->gyro[i] = 0.0;
appdata->accel[i] = 0.0;
appdata->pos[i] = 0.0;
appdata->pos_std[i] = 0.0;
appdata->veg_n[i] = 0.0;
appdata->veg_n_std[i] = 0.0;
}
appdata->gnss_stat = YINS_GNSS_STAT_NONE;
appdata->yaw2ant = 0.0;
appdata->yaw2ant_std = 0.0;
appdata->yaw2ant_stat = YINS_YAW2ANT_STAT_NONE;
appdata->dS = 0.0;
}
static void prod_reset_stat(prod_t *prod)
{
prod->isa_od = false;
prod->isa_imu = false;
prod->isa_pps = false;
prod->isa_gnss = false;
prod->isa_gnss_yaw2 = false;
}
void yinsapp_data2prod(const yinsapp_data_t *appdata, prod_t *prod)
{
prod_reset_stat(prod);
prod->time = gpst2time(appdata->week, appdata->sow);
if(appdata->isa_imu){
prod->isa_imu = true;
prod->imud.time = prod->time;
v3_copy(&prod->imud.gyro, appdata->gyro);
v3_copy(&prod->imud.accel, appdata->accel);
return;
}
if(appdata->isa_gnss){
v3_copy(&prod->reg_e, appdata->pos);
v3_copy(&prod->veg_e, appdata->veg_n);
prod->Qreg_e = O3;
prod->Qreg_e.m11 = appdata->pos_std[0];
prod->Qreg_e.m22 = appdata->pos_std[1];
prod->Qreg_e.m33 = appdata->pos_std[2];
prod->Qveg_e = O3;
prod->Qveg_e.m11 = appdata->veg_n_std[0];
prod->Qveg_e.m22 = appdata->veg_n_std[1];
prod->Qveg_e.m33 = appdata->veg_n_std[2];
ned2ecefQ(&prod->reg_e, &prod->Qreg_e, &prod->Qveg_e, NULL);
ned2ecef(&prod->reg_e, &prod->veg_e, NULL);
switch (appdata->gnss_stat) {
case YINS_GNSS_STAT_NONE: prod->stat = SOL_NONE;
case YINS_GNSS_STAT_SINGLE: prod->stat = SOL_SINGLE;
case YINS_GNSS_STAT_DGNSS: prod->stat = SOL_DGNSS;
case YINS_GNSS_STAT_PPP: prod->stat = SOL_PPP;
case YINS_GNSS_STAT_FLOAT: prod->stat = SOL_FLOAT;
case YINS_GNSS_STAT_FIX: prod->stat = SOL_FIXED;
}
if(appdata->yaw2ant_stat != YINS_YAW2ANT_STAT_NONE){
prod->isa_gnss_yaw2 = true;
prod->yaw2 = appdata->yaw2ant*DEG2RAD;
prod->yaw2_std = appdata->yaw2ant_std*DEG2RAD;
}
}
if(appdata->isa_od){
prod->isa_od = true;
prod->dS = appdata->dS;
}
}
extern int yinsapp_pureins(
const char *fin, enum FT ft, const imup_t *imup, const char *fsol)
{
cfg.isx_ba = 0; cfg.isx_bg = 0;
solins_t sol; memset(&sol, 0, sizeof(solins_t));
FILE *fp_sol;
if(!(fp_sol = fopen(fsol, "w")))
LOG_FATAL("Can't open file: %s", fsol);
if(FILE_LOG_LEVEL != LEVEL_OFF) LOG_OPEN(cfg.log_path);
imu_t imu; imu_init(&imu);
yins_readf(fin, ft, &imu, NULL, NULL);
v3_t reb_e = imup->initr;
v3_t veb_e = imup->initv;
ned2ecef(&reb_e, &veb_e, NULL);
quat_t qbe = att2Qbe(&imup->initr, &imup->inita);
double dt = 1.0 / imup->freq_imu;
/* search start time of IMU data */
unsigned int istart = 0;
if(imup->tstart.time == 0 && imup->tstart.sec == 0.0){
LOG_WARN("imup->tstart may not set correctly");
}else{
double t = timediff(imup->tstart, imu.data[0].time);
if(t < - 1.5*dt)
LOG_FATAL("imup->tstart is ahead of imu.data[0].time %.2f sec", -t);
else if(t < 0.5*dt)
istart = 0;
else {
for(istart = 1 ;istart < imu.n ; ++istart)
if(timediff(imup->tstart, imu.data[0].time) < 0.5*dt) break;
if(istart == imu.n)
LOG_FATAL("imup->tstart setting error");
}
}
/* run ins_nav_ecef */
sol.pos = reb_e; sol.vel = veb_e; sol.quat = qbe;
quat2dcm(&sol.quat, &sol.dcm);
sol.time = imup->tstart;
outsolins(fp_sol, &sol, imup);
for(unsigned int i = istart; i < imu.n; i++){
ins_nav_ecef(dt, &imu.data[i].gyro, &imu.data[i].accel,
&reb_e, &veb_e, &qbe);
sol.time = imu.data[i].time;
sol.pos = reb_e; sol.vel = veb_e; sol.quat = qbe;
quat2dcm(&sol.quat, &sol.dcm);
outsolins(fp_sol, &sol, imup);
}
fclose(fp_sol);
if(FILE_LOG_LEVEL != LEVEL_OFF) LOG_CLOSE();
return 0;
}
extern int yinsapp_process(const yinsapp_data_t *appdata,
yinsapp_result_t *result, const char *cfg_file)
{
/* read cfg */
bool is_cfg = false;
static imup_t imup = {0};
if(!is_cfg){
FILE *fp = fopen(cfg_file, "r");
readf_ycsv_header(fp, &imup);
is_cfg = true;
}
/* align and initial kalman filter */
static kf_t inskf;
static bool is_align = false;
static int align_count = 0;
static v3_t align_att = {0.0, 0.0, 0.0};
if(!is_align && !appdata->isa_gnss){
return 1;
}
if(!is_align && appdata->gnss_stat != YINS_GNSS_STAT_NONE){
double cur_yaw;
double vel = sqrt(SQR(appdata->veg_n[0]) + SQR(appdata->veg_n[1]));
/* use gnss 2-antenna yaw or velocity */
if(appdata->yaw2ant_stat != YINS_YAW2ANT_STAT_NONE)
cur_yaw = appdata->yaw2ant*DEG2RAD;
else if(vel > 2.0){
vel2yaw((const v3_t *)appdata->veg_n, &cur_yaw, NULL, NULL);
align_count ++;
} else
align_count = 0;
/* Check align yaw result consistent */
if(align_count > 0){
double dyaw = angle_to180(appdata->yaw2ant*DEG2RAD - align_att.z);
if(dyaw < 5*DEG2RAD) align_count++; else align_count = 0;
}
/* Accept the aligning result */
if(align_count > 3){
LOG_INFO("Finish align");
is_align = true;
imup.tstart = gpst2time(appdata->week, appdata->sow);
v3_copy(&imup.initv, appdata->veg_n);
v3_copy(&imup.initr, appdata->pos);
ned2ecef(&imup.initr, &imup.initv, NULL);
inskf_init(&inskf, &imup);
}
}
if(!is_align) return 1;
static prod_t *prod; prod = malloc(sizeof(prod_t));
yinsapp_data2prod(appdata, prod);
/* run kalman filter */
if(prod->isa_imu){
inskf_udstate(&inskf, &prod->imud, &imup);
return 2;
}
if(prod->isa_gnss){
v3_t wib_b = v3_scalar(imup.freq_imu, prod->imud.gyro);
inskf_udmeasv(&inskf, &prod->veg_e, &prod->Qveg_e, &imup.lever_arm_gps, &wib_b);
inskf_udmeasr(&inskf, &prod->reg_e, &prod->Qreg_e, &imup.lever_arm_gps);
inskf_feedback(&inskf, soltype_add(inskf.sol->status, prod->stat));
if(prod->isa_gnss_yaw2){
inskf_udmeas_yaw(&inskf, prod->yaw2, SQR(prod->yaw2_std));
inskf_feedback(&inskf, soltype_add(inskf.sol->status, prod->stat));
}
return 3;
}
return 0;
}