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ekf2: estimator aid source status (GPS pos, GPS vel)

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This commit is contained in:
Daniel Agar
2022-03-15 10:31:03 -04:00
parent 24ae7e2330
commit 2260cf4a83
16 changed files with 813 additions and 628 deletions
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.ci/Jenkinsfile-hardware
+2
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@@ -866,6 +866,8 @@ void printTopics() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
msg/estimator_aid_source_3d.msg
+1
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@@ -19,3 +19,4 @@ bool[3] innovation_rejected # true if the observation has been rejected
bool[3] fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_3d
# TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel
msg/estimator_event_flags.msg
+4
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@@ -16,6 +16,10 @@ bool starting_vision_pos_fusion # 9 - true when the filter starts using
bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement
bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
# warning events
uint32 warning_event_changes # number of warning event changes
src/modules/ekf2/EKF/common.h
+4
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@@ -550,6 +550,10 @@ union information_event_status_u {
bool starting_vision_vel_fusion : 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
bool starting_vision_yaw_fusion : 1; ///< 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
bool yaw_aligned_to_imu_gps : 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
bool reset_hgt_to_baro : 1; ///< 13 - true when the vertical position state is reset to the baro measurement
bool reset_hgt_to_gps : 1; ///< 14 - true when the vertical position state is reset to the gps measurement
bool reset_hgt_to_rng : 1; ///< 15 - true when the vertical position state is reset to the rng measurement
bool reset_hgt_to_ev : 1; ///< 16 - true when the vertical position state is reset to the ev measurement
} flags;
uint32_t value;
};
src/modules/ekf2/EKF/control.cpp
+19 -5
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@@ -778,6 +778,24 @@ void Ekf::checkVerticalAccelerationHealth()
bool is_inertial_nav_falling = false;
bool are_vertical_pos_and_vel_independant = false;
if (_control_status.flags.gps) {
// velocity
auto &gps_vel = _aid_src_gnss_vel;
if (gps_vel.time_last_fuse[2] > _vert_vel_fuse_time_us) {
_vert_vel_fuse_time_us = gps_vel.time_last_fuse[2];
_vert_vel_innov_ratio = gps_vel.innovation[2] / sqrtf(gps_vel.innovation_variance[2]);
}
// position
auto &gps_pos = _aid_src_gnss_pos;
if (gps_pos.time_last_fuse[2] > _vert_pos_fuse_attempt_time_us) {
_vert_pos_fuse_attempt_time_us = gps_pos.time_last_fuse[2];
_vert_pos_innov_ratio = gps_pos.innovation[2] / sqrtf(gps_pos.innovation_variance[2]);
}
}
if (isRecent(_vert_pos_fuse_attempt_time_us, 1000000)) {
if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
// If vertical position and velocity come from independent sensors then we can
@@ -930,11 +948,7 @@ void Ekf::controlHeightFusion()
}
} else if (_control_status.flags.gps_hgt) {
if (_gps_data_ready) {
fuseGpsHgt();
}
// handled by gps fusion
} else if (_control_status.flags.rng_hgt) {
if (_range_sensor.isDataHealthy()) {
src/modules/ekf2/EKF/covariance.cpp
+18 -7
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@@ -984,13 +984,24 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
const float down_dvel_bias = _state.delta_vel_bias.dot(Vector3f(_R_to_earth.row(2)));
// check that the vertical component of accel bias is consistent with both the vertical position and velocity innovation
bool bad_acc_bias = (fabsf(down_dvel_bias) > dVel_bias_lim
&& ((down_dvel_bias * _gps_vel_innov(2) < 0.0f && _control_status.flags.gps)
|| (down_dvel_bias * _ev_vel_innov(2) < 0.0f && _control_status.flags.ev_vel))
&& ((down_dvel_bias * _gps_pos_innov(2) < 0.0f && _control_status.flags.gps_hgt)
|| (down_dvel_bias * _baro_hgt_innov < 0.0f && _control_status.flags.baro_hgt)
|| (down_dvel_bias * _rng_hgt_innov < 0.0f && _control_status.flags.rng_hgt)
|| (down_dvel_bias * _ev_pos_innov(2) < 0.0f && _control_status.flags.ev_hgt)));
bool bad_acc_bias = false;
if (fabsf(down_dvel_bias) > dVel_bias_lim) {
bool bad_vz_gps = _control_status.flags.gps && (down_dvel_bias * _aid_src_gnss_vel.innovation[2] < 0.0f);
bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _ev_vel_innov(2) < 0.0f);
if (bad_vz_gps || bad_vz_ev) {
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _baro_hgt_innov < 0.0f);
bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_pos.innovation[2] < 0.0f);
bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _rng_hgt_innov < 0.0f);
bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _ev_pos_innov(2) < 0.0f);
if (bad_z_baro || bad_z_gps || bad_z_rng || bad_z_ev) {
bad_acc_bias = true;
}
}
}
// record the pass/fail
if (!bad_acc_bias) {
src/modules/ekf2/EKF/ekf.h
+16 -9
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@@ -340,6 +340,9 @@ public:
const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const auto &aid_src_gnss_vel() const { return _aid_src_gnss_vel; }
const auto &aid_src_gnss_pos() const { return _aid_src_gnss_pos; }
const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
private:
@@ -443,12 +446,6 @@ private:
float _vert_vel_innov_ratio{0.f}; ///< standard deviation of vertical velocity innovation
uint64_t _vert_vel_fuse_time_us{0}; ///< last system time in usec time vertical velocity measurement fuson was attempted
Vector3f _gps_vel_innov{}; ///< GPS velocity innovations (m/sec)
Vector3f _gps_vel_innov_var{}; ///< GPS velocity innovation variances ((m/sec)**2)
Vector3f _gps_pos_innov{}; ///< GPS position innovations (m)
Vector3f _gps_pos_innov_var{}; ///< GPS position innovation variances (m**2)
Vector3f _ev_vel_innov{}; ///< external vision velocity innovations (m/sec)
Vector3f _ev_vel_innov_var{}; ///< external vision velocity innovation variances ((m/sec)**2)
@@ -496,6 +493,9 @@ private:
bool _inhibit_flow_use{false}; ///< true when use of optical flow and range finder is being inhibited
Vector2f _flow_compensated_XY_rad{}; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
estimator_aid_source_3d_s _aid_src_gnss_vel{};
estimator_aid_source_3d_s _aid_src_gnss_pos{};
estimator_aid_source_2d_s _aid_src_fake_pos{};
// output predictor states
@@ -528,8 +528,12 @@ private:
// Variables used to perform in flight resets and switch between height sources
AlphaFilter<Vector3f> _mag_lpf{0.1f}; ///< filtered magnetometer measurement for instant reset (Gauss)
float _hgt_sensor_offset{0.0f}; ///< set as necessary if desired to maintain the same height after a height reset (m)
float _baro_hgt_offset{0.0f}; ///< baro height reading at the local NED origin (m)
float _gps_hgt_offset{0.0f}; ///< GPS height reading at the local NED origin (m)
float _rng_hgt_offset{0.0f}; ///< Range height reading at the local NED origin (m)
float _ev_hgt_offset{0.0f}; ///< EV height reading at the local NED origin (m)
float _baro_hgt_bias{0.0f};
float _baro_hgt_bias_var{1.f};
@@ -641,7 +645,6 @@ private:
void fuseDrag(const dragSample &drag_sample);
void fuseBaroHgt();
void fuseGpsHgt();
void fuseRngHgt();
void fuseEvHgt();
@@ -688,7 +691,11 @@ private:
bool fuseVerticalPosition(float innov, float innov_gate, float obs_var,
float &innov_var, float &test_ratio);
void fuseGpsVelPos();
void updateGpsVel(const gpsSample &gps_sample);
void fuseGpsVel();
void updateGpsPos(const gpsSample &gps_sample);
void fuseGpsPos();
// calculate optical flow body angular rate compensation
// returns false if bias corrected body rate data is unavailable
src/modules/ekf2/EKF/ekf_helper.cpp
+73 -43
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@@ -241,7 +241,10 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos)
void Ekf::resetHeightToBaro()
{
resetVerticalPositionTo(-_baro_sample_delayed.hgt + _baro_hgt_offset);
ECL_INFO("reset height to baro");
_information_events.flags.reset_hgt_to_baro = true;
resetVerticalPositionTo(-(_baro_sample_delayed.hgt - _baro_hgt_offset));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.baro_noise));
@@ -249,6 +252,9 @@ void Ekf::resetHeightToBaro()
void Ekf::resetHeightToGps()
{
ECL_INFO("reset height to GPS");
_information_events.flags.reset_hgt_to_gps = true;
const float z_pos_before_reset = _state.pos(2);
resetVerticalPositionTo(-_gps_sample_delayed.hgt + _gps_alt_ref);
@@ -261,6 +267,9 @@ void Ekf::resetHeightToGps()
void Ekf::resetHeightToRng()
{
ECL_INFO("reset height to RNG");
_information_events.flags.reset_hgt_to_rng = true;
float dist_bottom;
if (_control_status.flags.in_air) {
@@ -273,7 +282,7 @@ void Ekf::resetHeightToRng()
// update the state and associated variance
const float z_pos_before_reset = _state.pos(2);
resetVerticalPositionTo(-dist_bottom + _hgt_sensor_offset);
resetVerticalPositionTo(-dist_bottom + _rng_hgt_offset);
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));
@@ -284,6 +293,9 @@ void Ekf::resetHeightToRng()
void Ekf::resetHeightToEv()
{
ECL_INFO("reset height to EV");
_information_events.flags.reset_hgt_to_ev = true;
const float z_pos_before_reset = _state.pos(2);
resetVerticalPositionTo(_ev_sample_delayed.pos(2));
@@ -352,7 +364,8 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
}
// check for excessive horizontal GPS velocity innovations
const bool badVelInnov = (_gps_vel_test_ratio(0) > 1.0f) && _control_status.flags.gps;
const float gps_vel_test_ratio = fmaxf(_aid_src_gnss_vel.test_ratio[0], _aid_src_gnss_vel.test_ratio[1]);
const bool badVelInnov = (gps_vel_test_ratio > 1.0f) && _control_status.flags.gps;
// calculate GPS course over ground angle
const float gpsCOG = atan2f(_gps_sample_delayed.vel(1), _gps_sample_delayed.vel(0));
@@ -593,30 +606,33 @@ Vector3f Ekf::calcEarthRateNED(float lat_rad) const
void Ekf::getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const
{
hvel[0] = _gps_vel_innov(0);
hvel[1] = _gps_vel_innov(1);
vvel = _gps_vel_innov(2);
hpos[0] = _gps_pos_innov(0);
hpos[1] = _gps_pos_innov(1);
vpos = _gps_pos_innov(2);
hvel[0] = _aid_src_gnss_vel.innovation[0];
hvel[1] = _aid_src_gnss_vel.innovation[1];
vvel = _aid_src_gnss_vel.innovation[2];
hpos[0] = _aid_src_gnss_pos.innovation[0];
hpos[1] = _aid_src_gnss_pos.innovation[1];
vpos = _aid_src_gnss_pos.innovation[2];
}
void Ekf::getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const
{
hvel[0] = _gps_vel_innov_var(0);
hvel[1] = _gps_vel_innov_var(1);
vvel = _gps_vel_innov_var(2);
hpos[0] = _gps_pos_innov_var(0);
hpos[1] = _gps_pos_innov_var(1);
vpos = _gps_pos_innov_var(2);
hvel[0] = _aid_src_gnss_vel.innovation_variance[0];
hvel[1] = _aid_src_gnss_vel.innovation_variance[1];
vvel = _aid_src_gnss_vel.innovation_variance[2];
hpos[0] = _aid_src_gnss_pos.innovation_variance[0];
hpos[1] = _aid_src_gnss_pos.innovation_variance[1];
vpos = _aid_src_gnss_pos.innovation_variance[2];
}
void Ekf::getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const
{
hvel = _gps_vel_test_ratio(0);
vvel = _gps_vel_test_ratio(1);
hpos = _gps_pos_test_ratio(0);
vpos = _gps_pos_test_ratio(1);
hvel = fmaxf(_aid_src_gnss_vel.test_ratio[0], _aid_src_gnss_vel.test_ratio[1]);
vvel = _aid_src_gnss_vel.test_ratio[2];
hpos = fmaxf(_aid_src_gnss_pos.test_ratio[0], _aid_src_gnss_pos.test_ratio[1]);
vpos = _aid_src_gnss_pos.test_ratio[2];
}
void Ekf::getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const
@@ -728,7 +744,7 @@ void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const
// and using state variances for accuracy reporting is overly optimistic in these situations
if (_control_status.flags.inertial_dead_reckoning) {
if (_control_status.flags.gps) {
hpos_err = math::max(hpos_err, sqrtf(sq(_gps_pos_innov(0)) + sq(_gps_pos_innov(1))));
hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm());
}
if (_control_status.flags.ev_pos) {
@@ -750,7 +766,7 @@ void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
// The reason is that complete rejection of measurements is often caused by heading misalignment or inertial sensing errors
// and using state variances for accuracy reporting is overly optimistic in these situations
if (_deadreckon_time_exceeded && _control_status.flags.gps) {
hpos_err = math::max(hpos_err, sqrtf(sq(_gps_pos_innov(0)) + sq(_gps_pos_innov(1))));
hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm());
}
*ekf_eph = hpos_err;
@@ -774,7 +790,7 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
}
if (_control_status.flags.gps) {
vel_err_conservative = math::max(vel_err_conservative, sqrtf(sq(_gps_pos_innov(0)) + sq(_gps_pos_innov(1))));
vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_gnss_pos.innovation).norm());
} else if (_control_status.flags.ev_pos) {
vel_err_conservative = math::max(vel_err_conservative, sqrtf(sq(_ev_pos_innov(0)) + sq(_ev_pos_innov(1))));
@@ -901,10 +917,10 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
pos = NAN;
if (_control_status.flags.gps) {
float gps_vel = sqrtf(math::max(_gps_vel_test_ratio(0), _gps_vel_test_ratio(1)));
float gps_vel = sqrtf(Vector3f(_aid_src_gnss_vel.test_ratio).max());
vel = math::max(gps_vel, FLT_MIN);
float gps_pos = sqrtf(_gps_pos_test_ratio(0));
float gps_pos = sqrtf(Vector2f(_aid_src_gnss_pos.test_ratio).max());
pos = math::max(gps_pos, FLT_MIN);
}
@@ -928,7 +944,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
hgt = math::max(sqrtf(_baro_hgt_test_ratio), FLT_MIN);
} else if (_control_status.flags.gps_hgt) {
hgt = math::max(sqrtf(_gps_pos_test_ratio(1)), FLT_MIN);
hgt = math::max(sqrtf(_aid_src_gnss_pos.test_ratio[2]), FLT_MIN);
} else if (_control_status.flags.rng_hgt) {
hgt = math::max(sqrtf(_rng_hgt_test_ratio), FLT_MIN);
@@ -965,8 +981,8 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const
soln_status.flags.const_pos_mode = !soln_status.flags.velocity_horiz;
soln_status.flags.pred_pos_horiz_rel = soln_status.flags.pos_horiz_rel;
soln_status.flags.pred_pos_horiz_abs = soln_status.flags.pos_horiz_abs;
const bool gps_vel_innov_bad = (_gps_vel_test_ratio(0) > 1.0f) || (_gps_vel_test_ratio(1) > 1.0f);
const bool gps_pos_innov_bad = (_gps_pos_test_ratio(0) > 1.0f);
const bool gps_vel_innov_bad = Vector3f(_aid_src_gnss_vel.test_ratio).max() > 1.f;
const bool gps_pos_innov_bad = Vector2f(_aid_src_gnss_pos.test_ratio).max() > 1.f;
const bool mag_innov_good = (_mag_test_ratio.max() < 1.0f) && (_yaw_test_ratio < 1.0f);
soln_status.flags.gps_glitch = (gps_vel_innov_bad || gps_pos_innov_bad) && mag_innov_good;
soln_status.flags.accel_error = _fault_status.flags.bad_acc_vertical;
@@ -1000,6 +1016,7 @@ void Ekf::update_deadreckoning_status()
|| isRecent(_time_last_hor_vel_fuse, _params.no_aid_timeout_max));
const bool optFlowAiding = _control_status.flags.opt_flow && isRecent(_time_last_of_fuse, _params.no_aid_timeout_max);
const bool airDataAiding = _control_status.flags.wind &&
isRecent(_time_last_arsp_fuse, _params.no_aid_timeout_max) &&
isRecent(_time_last_beta_fuse, _params.no_aid_timeout_max);
@@ -1254,7 +1271,8 @@ void Ekf::startBaroHgtFusion()
// We don't need to set a height sensor offset
// since we track a separate _baro_hgt_offset
_hgt_sensor_offset = 0.0f;
ECL_INFO("starting baro height fusion");
}
}
@@ -1262,17 +1280,19 @@ void Ekf::startGpsHgtFusion()
{
if (!_control_status.flags.gps_hgt) {
if (_control_status.flags.rng_hgt) {
// swith out of range aid
// switch out of range aid
// calculate height sensor offset such that current
// measurement matches our current height estimate
_hgt_sensor_offset = _gps_sample_delayed.hgt - _gps_alt_ref + _state.pos(2);
_gps_hgt_offset = (_gps_sample_delayed.hgt - _gps_alt_ref) + _state.pos(2);
} else {
_hgt_sensor_offset = 0.f;
_gps_hgt_offset = 0.f;
resetHeightToGps();
}
setControlGPSHeight();
ECL_INFO("starting GPS height fusion");
}
}
@@ -1283,12 +1303,14 @@ void Ekf::startRngHgtFusion()
// Range finder is the primary height source, the ground is now the datum used
// to compute the local vertical position
_hgt_sensor_offset = 0.f;
_rng_hgt_offset = 0.f;
if (!_control_status_prev.flags.ev_hgt) {
// EV and range finders are using the same height datum
resetHeightToRng();
}
ECL_INFO("starting RNG height fusion");
}
}
@@ -1299,7 +1321,9 @@ void Ekf::startRngAidHgtFusion()
// calculate height sensor offset such that current
// measurement matches our current height estimate
_hgt_sensor_offset = _terrain_vpos;
_rng_hgt_offset = _terrain_vpos;
ECL_INFO("starting RNG aid height fusion");
}
}
@@ -1312,6 +1336,8 @@ void Ekf::startEvHgtFusion()
// EV and range finders are using the same height datum
resetHeightToEv();
}
ECL_INFO("starting EV height fusion");
}
}
@@ -1557,6 +1583,8 @@ void Ekf::stopGpsFusion()
if (_control_status.flags.gps) {
stopGpsPosFusion();
stopGpsVelFusion();
_control_status.flags.gps = false;
}
if (_control_status.flags.gps_yaw) {
@@ -1570,27 +1598,27 @@ void Ekf::stopGpsFusion()
void Ekf::stopGpsPosFusion()
{
_control_status.flags.gps = false;
ECL_INFO("stopping GPS position fusion");
if (_control_status.flags.gps_hgt) {
ECL_INFO("stopping GPS height fusion");
startBaroHgtFusion();
}
_gps_pos_innov.setZero();
_gps_pos_innov_var.setZero();
_gps_pos_test_ratio.setZero();
resetEstimatorAidStatus(_aid_src_gnss_pos);
}
void Ekf::stopGpsVelFusion()
{
_gps_vel_innov.setZero();
_gps_vel_innov_var.setZero();
_gps_vel_test_ratio.setZero();
ECL_INFO("stopping GPS velocity fusion");
resetEstimatorAidStatus(_aid_src_gnss_vel);
}
void Ekf::startGpsYawFusion()
{
if (resetYawToGps()) {
if (!_control_status.flags.gps_yaw && resetYawToGps()) {
ECL_INFO("starting GPS yaw fusion");
_control_status.flags.yaw_align = true;
_control_status.flags.mag_dec = false;
stopEvYawFusion();
@@ -1598,12 +1626,14 @@ void Ekf::startGpsYawFusion()
stopMag3DFusion();
_control_status.flags.gps_yaw = true;
}
}
void Ekf::stopGpsYawFusion()
{
_control_status.flags.gps_yaw = false;
if (_control_status.flags.gps_yaw) {
ECL_INFO("stopping GPS yaw fusion");
_control_status.flags.gps_yaw = false;
}
}
void Ekf::startEvPosFusion()
src/modules/ekf2/EKF/estimator_interface.h
+1 -3
View File
@@ -329,10 +329,8 @@ protected:
// innovation consistency check monitoring ratios
float _yaw_test_ratio{}; // yaw innovation consistency check ratio
AlphaFilter<float>_yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
AlphaFilter<float> _yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
Vector3f _mag_test_ratio{}; // magnetometer XYZ innovation consistency check ratios
Vector2f _gps_vel_test_ratio{}; // GPS velocity innovation consistency check ratios
Vector2f _gps_pos_test_ratio{}; // GPS position innovation consistency check ratios
Vector2f _ev_vel_test_ratio{}; // EV velocity innovation consistency check ratios
Vector2f _ev_pos_test_ratio{}; // EV position innovation consistency check ratios
Vector2f _aux_vel_test_ratio{}; // Auxiliary horizontal velocity innovation consistency check ratio
src/modules/ekf2/EKF/gps_control.cpp
+10 -1
View File
@@ -48,6 +48,14 @@ void Ekf::controlGpsFusion()
// Check for new GPS data that has fallen behind the fusion time horizon
if (_gps_data_ready) {
// reset flags
resetEstimatorAidStatusFlags(_aid_src_gnss_vel);
resetEstimatorAidStatusFlags(_aid_src_gnss_pos);
updateGpsVel(_gps_sample_delayed);
updateGpsPos(_gps_sample_delayed);
const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6);
const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6);
@@ -67,7 +75,8 @@ void Ekf::controlGpsFusion()
if (continuing_conditions_passing
|| !isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
fuseGpsVelPos();
fuseGpsVel();
fuseGpsPos();
if (shouldResetGpsFusion()) {
const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1000000);
src/modules/ekf2/EKF/gps_fusion.cpp
+122 -16
View File
@@ -39,39 +39,145 @@
/* #include <mathlib/mathlib.h> */
#include "ekf.h"
void Ekf::fuseGpsVelPos()
void Ekf::updateGpsVel(const gpsSample &gps_sample)
{
Vector3f gps_pos_obs_var;
const float vel_var = sq(gps_sample.sacc);
const Vector3f obs_var{vel_var, vel_var, vel_var * sq(1.5f)};
// innovation gate size
const float innov_gate = fmaxf(_params.gps_vel_innov_gate, 1.f);
auto &gps_vel = _aid_src_gnss_vel;
for (int i = 0; i < 3; i++) {
gps_vel.observation[i] = gps_sample.vel(i);
gps_vel.observation_variance[i] = obs_var(i);
gps_vel.innovation[i] = _state.vel(i) - gps_sample.vel(i);
gps_vel.innovation_variance[i] = P(4 + i, 4 + i) + obs_var(i);
gps_vel.test_ratio[i] = sq(gps_vel.innovation[i]) / (sq(innov_gate) * gps_vel.innovation_variance[i]);
gps_vel.innovation_rejected[i] = (gps_vel.test_ratio[i] > 1.f);
}
// vz special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && gps_vel.innovation_rejected[2]) {
const float innov_limit = innov_gate * sqrtf(gps_vel.innovation_variance[2]);
gps_vel.innovation[2] = math::constrain(gps_vel.innovation[2], -innov_limit, innov_limit);
gps_vel.innovation_rejected[2] = false;
}
gps_vel.timestamp_sample = gps_sample.time_us;
}
void Ekf::updateGpsPos(const gpsSample &gps_sample)
{
Vector3f position;
position(0) = gps_sample.pos(0);
position(1) = gps_sample.pos(1);
// vertical position - gps measurement has opposite sign to earth z axis
position(2) = -(gps_sample.hgt - _gps_alt_ref - _gps_hgt_offset);
const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
Vector3f obs_var;
if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
// if we are using other sources of aiding, then relax the upper observation
// noise limit which prevents bad GPS perturbing the position estimate
gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(fmaxf(_gps_sample_delayed.hacc, lower_limit));
obs_var(0) = obs_var(1) = sq(fmaxf(gps_sample.hacc, lower_limit));
} else {
// if we are not using another source of aiding, then we are reliant on the GPS
// observations to constrain attitude errors and must limit the observation noise value.
float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit));
obs_var(0) = obs_var(1) = sq(math::constrain(gps_sample.hacc, lower_limit, upper_limit));
}
obs_var(2) = getGpsHeightVariance();
// innovation gate size
float innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
const float vel_var = sq(_gps_sample_delayed.sacc);
const Vector3f gps_vel_obs_var{vel_var, vel_var, vel_var * sq(1.5f)};
auto &gps_pos = _aid_src_gnss_pos;
// calculate innovations
_gps_vel_innov = _state.vel - _gps_sample_delayed.vel;
_gps_pos_innov.xy() = Vector2f(_state.pos) - _gps_sample_delayed.pos;
for (int i = 0; i < 3; i++) {
gps_pos.observation[i] = position(i);
gps_pos.observation_variance[i] = obs_var(i);
// set innovation gate size
const float pos_innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
const float vel_innov_gate = fmaxf(_params.gps_vel_innov_gate, 1.f);
gps_pos.innovation[i] = _state.pos(i) - position(i);
gps_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
gps_pos.test_ratio[i] = sq(gps_pos.innovation[i]) / (sq(innov_gate) * gps_pos.innovation_variance[i]);
// fuse GPS measurement
fuseHorizontalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseVerticalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseHorizontalPosition(_gps_pos_innov, pos_innov_gate, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
gps_pos.innovation_rejected[i] = (gps_pos.test_ratio[i] > 1.f);
}
// z special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && gps_pos.innovation_rejected[2]) {
const float innov_limit = innov_gate * sqrtf(gps_pos.innovation_variance[2]);
gps_pos.innovation[2] = math::constrain(gps_pos.innovation[2], -innov_limit, innov_limit);
gps_pos.innovation_rejected[2] = false;
}
gps_pos.timestamp_sample = gps_sample.time_us;
}
void Ekf::fuseGpsVel()
{
// velocity
auto &gps_vel = _aid_src_gnss_vel;
// vx & vy
gps_vel.fusion_enabled[0] = true;
gps_vel.fusion_enabled[1] = true;
if (!gps_vel.innovation_rejected[0] && !gps_vel.innovation_rejected[1]) {
for (int i = 0; i < 2; i++) {
if (fuseVelPosHeight(gps_vel.innovation[i], gps_vel.innovation_variance[i], i)) {
gps_vel.fused[i] = true;
gps_vel.time_last_fuse[i] = _time_last_imu;
}
}
}
// vz
gps_vel.fusion_enabled[2] = true;
if (gps_vel.fusion_enabled[2] && !gps_vel.innovation_rejected[2]) {
if (fuseVelPosHeight(gps_vel.innovation[2], gps_vel.innovation_variance[2], 2)) {
gps_vel.fused[2] = true;
gps_vel.time_last_fuse[2] = _time_last_imu;
}
}
}
void Ekf::fuseGpsPos()
{
auto &gps_pos = _aid_src_gnss_pos;
// x & y
gps_pos.fusion_enabled[0] = true;
gps_pos.fusion_enabled[1] = true;
if (!gps_pos.innovation_rejected[0] && !gps_pos.innovation_rejected[1]) {
for (int i = 0; i < 2; i++) {
if (fuseVelPosHeight(gps_pos.innovation[i], gps_pos.innovation_variance[i], 3 + i)) {
gps_pos.fused[i] = true;
gps_pos.time_last_fuse[i] = _time_last_imu;
}
}
}
// z
gps_pos.fusion_enabled[2] = _control_status.flags.gps_hgt;
if (gps_pos.fusion_enabled[2] && !gps_pos.innovation_rejected[2]) {
if (fuseVelPosHeight(gps_pos.innovation[2], gps_pos.innovation_variance[2], 5)) {
gps_pos.fused[2] = true;
gps_pos.time_last_fuse[2] = _time_last_imu;
}
}
}
src/modules/ekf2/EKF/height_fusion.cpp
+1 -16
View File
@@ -72,26 +72,11 @@ void Ekf::fuseBaroHgt()
_baro_hgt_innov_var, _baro_hgt_test_ratio);
}
void Ekf::fuseGpsHgt()
{
// vertical position innovation - gps measurement has opposite sign to earth z axis
_gps_pos_innov(2) = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref - _hgt_sensor_offset;
// innovation gate size
float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
float obs_var = getGpsHeightVariance();
// _gps_pos_test_ratio(1) is the vertical test ratio
fuseVerticalPosition(_gps_pos_innov(2), innov_gate, obs_var,
_gps_pos_innov_var(2), _gps_pos_test_ratio(1));
}
void Ekf::fuseRngHgt()
{
// use range finder with tilt correction
_rng_hgt_innov = _state.pos(2) - (-math::max(_range_sensor.getDistBottom(),
_params.rng_gnd_clearance)) - _hgt_sensor_offset;
_params.rng_gnd_clearance)) - _rng_hgt_offset;
// innovation gate size
float innov_gate = fmaxf(_params.range_innov_gate, 1.f);
src/modules/ekf2/EKF2.cpp
+8
View File
@@ -636,6 +636,10 @@ void EKF2::Run()
void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
{
// GNSS velocity & position
PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub);
PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub);
// fake position
PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
}
@@ -721,6 +725,10 @@ void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
event_flags.starting_vision_vel_fusion = _ekf.information_event_flags().starting_vision_vel_fusion;
event_flags.starting_vision_yaw_fusion = _ekf.information_event_flags().starting_vision_yaw_fusion;
event_flags.yaw_aligned_to_imu_gps = _ekf.information_event_flags().yaw_aligned_to_imu_gps;
event_flags.reset_hgt_to_baro = _ekf.information_event_flags().reset_hgt_to_baro;
event_flags.reset_hgt_to_gps = _ekf.information_event_flags().reset_hgt_to_gps;
event_flags.reset_hgt_to_rng = _ekf.information_event_flags().reset_hgt_to_rng;
event_flags.reset_hgt_to_ev = _ekf.information_event_flags().reset_hgt_to_ev;
event_flags.warning_event_changes = _filter_warning_event_changes;
event_flags.gps_quality_poor = _ekf.warning_event_flags().gps_quality_poor;
src/modules/ekf2/EKF2.hpp
+6
View File
@@ -255,6 +255,9 @@ private:
hrt_abstime _last_sensor_bias_published{0};
hrt_abstime _last_gps_status_published{0};
hrt_abstime _status_gnss_vel_pub_last{0};
hrt_abstime _status_gnss_pos_pub_last{0};
hrt_abstime _status_fake_pos_pub_last{0};
float _last_baro_bias_published{};
@@ -316,6 +319,9 @@ private:
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
// publications with topic dependent on multi-mode
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
+284 -284
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf2/test/change_indication/iris_gps.csv
+244 -244
View File
@@ -105,247 +105,247 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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10890000,0.982,-0.00542,-0.0122,0.188,-2.62e-05,0.00548,0.17,-0.000802,-0.00435,-0.357,-1.54e-05,-5.78e-05,-3.14e-06,-2.24e-05,1.65e-05,-0.00158,0.204,0.00201,0.435,0,0,0,0,0,4.93e-06,0.000437,0.000437,0.00013,0.108,0.108,0.116,0.0963,0.0963,0.0583,5.83e-09,5.84e-09,6.23e-09,3.75e-06,3.75e-06,5e-08,0,0,0,0,0,0,0,0
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19390000,0.982,-0.00656,-0.00982,0.186,-0.00412,-0.00109,0.039,0.003,-0.000614,-0.219,-1.52e-05,-6e-05,1.64e-06,-5.14e-05,0.000132,-0.00139,0.204,0.00201,0.435,0,0,0,0,0,3.2e-06,0.000111,0.000111,8.65e-05,0.0276,0.0276,0.0084,0.0442,0.0442,0.0353,3.34e-10,3.34e-10,6.99e-10,3.03e-06,3.03e-06,5e-08,0,0,0,0,0,0,0,0
19490000,0.982,-0.00659,-0.00973,0.186,-0.00514,-0.000989,0.0369,0.00252,-0.000701,-0.224,-1.53e-05,-6e-05,1.32e-06,-5.24e-05,0.000133,-0.00139,0.204,0.00201,0.435,0,0,0,0,0,3.18e-06,0.000112,0.000112,8.58e-05,0.0304,0.0304,0.00844,0.0498,0.0498,0.0354,3.34e-10,3.34e-10,6.83e-10,3.03e-06,3.03e-06,5e-08,0,0,0,0,0,0,0,0
19590000,0.982,-0.00655,-0.00983,0.186,-0.00601,-0.00403,0.0372,0.0033,-0.00183,-0.228,-1.51e-05,-6e-05,1.21e-06,-5.17e-05,0.000131,-0.00138,0.204,0.00201,0.435,0,0,0,0,0,3.16e-06,0.000109,0.000109,8.52e-05,0.027,0.027,0.00836,0.044,0.044,0.0352,3.04e-10,3.04e-10,6.68e-10,3.02e-06,3.02e-06,5e-08,0,0,0,0,0,0,0,0
19690000,0.982,-0.00656,-0.00985,0.186,-0.00785,-0.00248,0.0342,0.00262,-0.00214,-0.233,-1.51e-05,-6e-05,1.35e-06,-5.23e-05,0.000132,-0.00138,0.204,0.00201,0.435,0,0,0,0,0,3.14e-06,0.00011,0.00011,8.45e-05,0.0296,0.0296,0.0084,0.0496,0.0496,0.0353,3.04e-10,3.04e-10,6.54e-10,3.02e-06,3.02e-06,5e-08,0,0,0,0,0,0,0,0
19790000,0.982,-0.00664,-0.00989,0.187,-0.00771,-0.00113,0.0314,0.00524,-0.00175,-0.241,-1.51e-05,-5.98e-05,1.1e-06,-5.03e-05,0.000132,-0.00137,0.204,0.00201,0.435,0,0,0,0,0,3.13e-06,0.000107,0.000107,8.42e-05,0.0263,0.0263,0.00835,0.0439,0.0439,0.0354,2.78e-10,2.78e-10,6.41e-10,3.02e-06,3.02e-06,5e-08,0,0,0,0,0,0,0,0
19890000,0.982,-0.00666,-0.00997,0.187,-0.0079,-0.000798,0.0304,0.0044,-0.0018,-0.247,-1.51e-05,-5.98e-05,9.75e-07,-5.11e-05,0.000132,-0.00137,0.204,0.00201,0.435,0,0,0,0,0,3.1e-06,0.000108,0.000108,8.36e-05,0.0288,0.0288,0.00839,0.0494,0.0494,0.0355,2.78e-10,2.78e-10,6.28e-10,3.02e-06,3.02e-06,5e-08,0,0,0,0,0,0,0,0
19990000,0.982,-0.00666,-0.0101,0.187,-0.00744,-0.000837,0.0263,0.00497,-0.000344,-0.254,-1.52e-05,-5.96e-05,1e-06,-4.94e-05,0.000134,-0.00136,0.204,0.00201,0.435,0,0,0,0,0,3.08e-06,0.000105,0.000105,8.3e-05,0.0256,0.0256,0.0083,0.0437,0.0437,0.0353,2.54e-10,2.54e-10,6.14e-10,3.01e-06,3.01e-06,5e-08,0,0,0,0,0,0,0,0
20090000,0.982,-0.00667,-0.0101,0.186,-0.00705,-0.003,0.0257,0.00422,-0.000546,-0.254,-1.52e-05,-5.96e-05,9.64e-07,-4.96e-05,0.000134,-0.00136,0.204,0.00201,0.435,0,0,0,0,0,3.07e-06,0.000106,0.000106,8.27e-05,0.028,0.028,0.00837,0.0492,0.0492,0.0357,2.54e-10,2.54e-10,6.03e-10,3.01e-06,3.01e-06,5e-08,0,0,0,0,0,0,0,0
20190000,0.982,-0.00667,-0.0102,0.187,-0.00581,-0.000542,0.0254,0.00545,-0.000349,-0.259,-1.52e-05,-5.95e-05,7.07e-07,-4.89e-05,0.000134,-0.00136,0.204,0.00201,0.435,0,0,0,0,0,3.04e-06,0.000103,0.000103,8.21e-05,0.025,0.025,0.00829,0.0436,0.0436,0.0355,2.33e-10,2.33e-10,5.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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21190000,0.982,0.00206,-0.00479,0.187,-0.0517,0.0513,-0.5,-0.00228,0.00399,-0.384,-1.46e-05,-5.9e-05,7.93e-07,-3.98e-05,0.000122,-0.00135,0.204,0.00201,0.435,0,0,0,0,0,2.87e-06,9.61e-05,9.61e-05,7.72e-05,0.0232,0.0232,0.00813,0.0428,0.0428,0.0356,1.55e-10,1.55e-10,4.84e-10,2.97e-06,2.97e-06,5e-08,0,0,0,0,0,0,0,0
21290000,0.982,-0.000105,-0.00612,0.187,-0.0522,0.0551,-0.631,-0.00748,0.00934,-0.446,-1.46e-05,-5.9e-05,4.96e-07,-4e-05,0.000122,-0.00134,0.204,0.00201,0.435,0,0,0,0,0,2.85e-06,9.67e-05,9.67e-05,7.66e-05,0.0256,0.0256,0.00816,0.048,0.048,0.0356,1.55e-10,1.56e-10,4.75e-10,2.97e-06,2.97e-06,5e-08,0,0,0,0,0,0,0,0
21390000,0.982,-0.0016,-0.00685,0.187,-0.0473,0.0508,-0.756,-0.00606,0.0115,-0.513,-1.44e-05,-5.88e-05,4.99e-07,-3.43e-05,0.000116,-0.00135,0.204,0.00201,0.435,0,0,0,0,0,2.85e-06,9.45e-05,9.44e-05,7.64e-05,0.0232,0.0232,0.00812,0.0427,0.0427,0.0357,1.44e-10,1.44e-10,4.66e-10,2.96e-06,2.96e-06,5e-08,0,0,0,0,0,0,0,0
21490000,0.982,-0.0024,-0.00726,0.187,-0.0432,0.0483,-0.893,-0.0107,0.0165,-0.602,-1.44e-05,-5.88e-05,6.21e-07,-3.47e-05,0.000117,-0.00134,0.204,0.00201,0.435,0,0,0,0,0,2.84e-06,9.5e-05,9.49e-05,7.58e-05,0.0255,0.0255,0.00815,0.0479,0.0479,0.0357,1.44e-10,1.44e-10,4.57e-10,2.96e-06,2.96e-06,5e-08,0,0,0,0,0,0,0,0
21590000,0.982,-0.0029,-0.00729,0.187,-0.0345,0.0437,-1.02,-0.00902,0.0169,-0.694,-1.42e-05,-5.87e-05,7.32e-07,-3.16e-05,0.000112,-0.00135,0.204,0.00201,0.435,0,0,0,0,0,2.82e-06,9.27e-05,9.26e-05,7.53e-05,0.023,0.023,0.00807,0.0426,0.0426,0.0355,1.33e-10,1.33e-10,4.49e-10,2.95e-06,2.95e-06,5e-08,0,0,0,0,0,0,0,0
21690000,0.982,-0.00324,-0.00714,0.187,-0.0328,0.0398,-1.15,-0.0124,0.0211,-0.811,-1.42e-05,-5.87e-05,9.01e-07,-3.22e-05,0.000113,-0.00135,0.204,0.00201,0.435,0,0,0,0,0,2.81e-06,9.32e-05,9.31e-05,7.5e-05,0.0253,0.0253,0.00815,0.0478,0.0478,0.0358,1.33e-10,1.33e-10,4.41e-10,2.95e-06,2.95e-06,5e-08,0,0,0,0,0,0,0,0
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19390000,0.982,-0.00656,-0.00982,0.186,-0.00411,-0.00108,0.039,0.00304,-0.000585,-0.219,-1.52e-05,-6e-05,1.64e-06,-5.14e-05,0.000132,-0.00139,0.204,0.00201,0.435,0,0,0,0,0,3.2e-06,0.000111,0.000111,8.65e-05,0.0278,0.0278,0.0084,0.0446,0.0446,0.0353,3.35e-10,3.35e-10,6.99e-10,3.03e-06,3.03e-06,5e-08,0,0,0,0,0,0,0,0
19490000,0.982,-0.00659,-0.00973,0.186,-0.00513,-0.000982,0.0369,0.00256,-0.000672,-0.224,-1.53e-05,-6e-05,1.32e-06,-5.24e-05,0.000133,-0.00139,0.204,0.00201,0.435,0,0,0,0,0,3.18e-06,0.000112,0.000112,8.58e-05,0.0305,0.0305,0.00844,0.0503,0.0503,0.0354,3.35e-10,3.35e-10,6.83e-10,3.03e-06,3.03e-06,5e-08,0,0,0,0,0,0,0,0
19590000,0.982,-0.00655,-0.00983,0.186,-0.006,-0.00403,0.0372,0.00334,-0.00181,-0.228,-1.51e-05,-6e-05,1.21e-06,-5.17e-05,0.000131,-0.00138,0.204,0.00201,0.435,0,0,0,0,0,3.16e-06,0.000109,0.000109,8.52e-05,0.0271,0.0271,0.00836,0.0444,0.0444,0.0352,3.05e-10,3.06e-10,6.68e-10,3.02e-06,3.02e-06,5e-08,0,0,0,0,0,0,0,0
19690000,0.982,-0.00656,-0.00985,0.186,-0.00783,-0.00248,0.0342,0.00267,-0.00212,-0.233,-1.51e-05,-6e-05,1.35e-06,-5.23e-05,0.000132,-0.00138,0.204,0.00201,0.435,0,0,0,0,0,3.14e-06,0.00011,0.00011,8.45e-05,0.0297,0.0297,0.0084,0.0501,0.0501,0.0353,3.06e-10,3.06e-10,6.54e-10,3.02e-06,3.02e-06,5e-08,0,0,0,0,0,0,0,0
19790000,0.982,-0.00664,-0.00989,0.187,-0.0077,-0.00113,0.0314,0.00528,-0.00173,-0.241,-1.51e-05,-5.98e-05,1.1e-06,-5.03e-05,0.000132,-0.00137,0.204,0.00201,0.435,0,0,0,0,0,3.13e-06,0.000107,0.000107,8.42e-05,0.0264,0.0264,0.00835,0.0443,0.0443,0.0354,2.79e-10,2.79e-10,6.41e-10,3.02e-06,3.02e-06,5e-08,0,0,0,0,0,0,0,0
19890000,0.982,-0.00666,-0.00997,0.187,-0.00789,-0.000805,0.0304,0.00445,-0.00178,-0.247,-1.51e-05,-5.98e-05,9.76e-07,-5.11e-05,0.000132,-0.00137,0.204,0.00201,0.435,0,0,0,0,0,3.1e-06,0.000108,0.000108,8.36e-05,0.0289,0.0289,0.00839,0.0498,0.0498,0.0355,2.79e-10,2.79e-10,6.28e-10,3.02e-06,3.02e-06,5e-08,0,0,0,0,0,0,0,0
19990000,0.982,-0.00666,-0.0101,0.187,-0.00742,-0.000841,0.0263,0.00502,-0.000326,-0.254,-1.51e-05,-5.96e-05,1e-06,-4.94e-05,0.000134,-0.00136,0.204,0.00201,0.435,0,0,0,0,0,3.08e-06,0.000105,0.000105,8.3e-05,0.0258,0.0258,0.0083,0.0441,0.0441,0.0353,2.55e-10,2.55e-10,6.14e-10,3.01e-06,3.01e-06,5e-08,0,0,0,0,0,0,0,0
20090000,0.982,-0.00667,-0.0101,0.186,-0.00702,-0.00301,0.0257,0.00427,-0.000528,-0.254,-1.52e-05,-5.96e-05,9.65e-07,-4.96e-05,0.000134,-0.00136,0.204,0.00201,0.435,0,0,0,0,0,3.07e-06,0.000106,0.000106,8.27e-05,0.0282,0.0282,0.00837,0.0496,0.0496,0.0357,2.55e-10,2.56e-10,6.03e-10,3.01e-06,3.01e-06,5e-08,0,0,0,0,0,0,0,0
20190000,0.982,-0.00667,-0.0102,0.187,-0.0058,-0.000548,0.0254,0.00549,-0.000333,-0.259,-1.51e-05,-5.95e-05,7.09e-07,-4.89e-05,0.000134,-0.00136,0.204,0.00201,0.435,0,0,0,0,0,3.04e-06,0.000104,0.000104,8.21e-05,0.0251,0.0251,0.00829,0.044,0.044,0.0355,2.34e-10,2.34e-10,5.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20490000,0.982,-0.00661,-0.0102,0.186,-0.0144,-0.00139,0.0226,0.00464,-0.00028,-0.27,-1.51e-05,-5.94e-05,7.19e-07,-4.88e-05,0.000135,-0.00135,0.204,0.00201,0.435,0,0,0,0,0,2.99e-06,0.000103,0.000103,8.06e-05,0.0267,0.0267,0.0083,0.0491,0.0491,0.0357,2.15e-10,2.15e-10,5.55e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
105 10290000 0.982 -0.00569 -0.0121 0.188 -0.0041 0.0905 -0.0122 -0.0172 0.164 -0.662 -1.56e-05 -5.78e-05 -3.29e-06 -2.44e-05 1.84e-05 -0.00145 0.204 0.00201 0.435 0 0 0 0 0 5.02e-06 0.000402 0.000402 0.000132 1.75 1.75 0.0122 5.95 5.95 0.0476 5.9e-09 5.91e-09 6.97e-09 3.78e-06 3.78e-06 5.41e-08 0 0 0 0 0 0 0 0
106 10390000 0.982 -0.00566 -0.0121 0.188 0.00655 0.0046 0.0101 0.000733 0.000123 -0.606 -1.56e-05 -5.77e-05 -3.07e-06 -2.47e-05 1.7e-05 -0.00148 0.204 0.00201 0.435 0 0 0 0 0 4.99e-06 0.00041 0.00041 0.000131 0.252 0.252 0.25 0.252 0.252 0.0457 5.9e-09 5.91e-09 6.85e-09 3.78e-06 3.78e-06 5.24e-08 0 0 0 0 0 0 0 0
107 10490000 0.982 -0.00554 -0.012 0.188 0.00741 0.00657 0.053 0.00141 0.000651 -0.548 -1.56e-05 -5.77e-05 -3.96e-06 -2.51e-05 1.58e-05 -0.00151 0.204 0.00201 0.435 0 0 0 0 0 4.96e-06 0.000419 0.000419 0.00013 0.257 0.257 0.247 0.259 0.259 0.0479 5.9e-09 5.91e-09 6.73e-09 3.78e-06 3.78e-06 5.09e-08 0 0 0 0 0 0 0 0
108 10590000 0.982 -0.00546 -0.0119 0.188 -0.00216 0.00451 0.00452 0.0811 -0.00119 -0.00118 -0.0055 -0.00544 -0.499 -1.56e-05 -5.78e-05 -3.51e-06 -2.31e-05 1.48e-05 -0.00154 0.204 0.00201 0.435 0 0 0 0 0 4.95e-06 0.000423 0.000423 0.00013 0.13 0.13 0.169 0.129 0.131 0.129 0.131 0.0486 5.89e-09 5.89e-09 6.6e-09 3.77e-06 3.77e-06 5e-08 0 0 0 0 0 0 0 0
109 10690000 0.982 -0.00539 -0.012 0.188 -0.00153 -0.00152 0.00538 0.00539 0.124 -0.00137 -0.00136 -0.005 -0.00494 -0.448 -1.56e-05 -5.77e-05 -3.85e-06 -2.32e-05 1.41e-05 -0.00155 0.204 0.00201 0.435 0 0 0 0 0 4.96e-06 0.000432 0.000433 0.00013 0.139 0.139 0.164 0.136 0.137 0.136 0.137 0.054 5.89e-09 5.89e-09 6.49e-09 3.77e-06 3.77e-06 5e-08 0 0 0 0 0 0 0 0
110 10790000 0.982 -0.00546 -0.0121 0.188 0.000356 0.000355 0.00223 0.00222 0.135 -0.000826 -0.000823 -0.00469 -0.00466 -0.405 -1.54e-05 -5.78e-05 -4.01e-06 -2.23e-05 1.69e-05 -0.00157 0.204 0.00201 0.435 0 0 0 0 0 4.94e-06 0.000427 0.000428 0.00013 0.0961 0.0961 0.123 0.0903 0.0913 0.0903 0.0913 0.0538 5.83e-09 5.84e-09 6.36e-09 3.75e-06 3.75e-06 5e-08 0 0 0 0 0 0 0 0
111 10890000 0.982 -0.00542 -0.0122 0.188 -2.62e-05 -2.72e-05 0.00548 0.17 -0.000802 -0.000799 -0.00435 -0.00432 -0.357 -1.54e-05 -5.78e-05 -3.14e-06 -2.24e-05 1.65e-05 -0.00158 0.204 0.00201 0.435 0 0 0 0 0 4.93e-06 0.000437 0.000437 0.00013 0.108 0.108 0.116 0.0963 0.0974 0.0963 0.0974 0.0583 5.83e-09 5.84e-09 6.23e-09 3.75e-06 3.75e-06 5e-08 0 0 0 0 0 0 0 0
112 10990000 0.982 -0.00545 -0.0123 0.188 -0.000349 -0.00035 0.0117 0.174 -0.000549 -0.000548 -0.00305 -0.00303 -0.323 -1.53e-05 -5.78e-05 -3.53e-06 -2.2e-05 1.79e-05 -0.00159 0.204 0.00201 0.435 0 0 0 0 0 4.94e-06 0.000419 0.000419 0.00013 0.0848 0.0849 0.0848 0.0849 0.0921 0.0719 0.0728 0.0719 0.0728 0.0579 5.72e-09 5.73e-09 6.11e-09 3.72e-06 3.72e-06 5e-08 0 0 0 0 0 0 0 0
113 11090000 0.982 -0.00557 -0.0123 0.188 0.000206 0.000205 0.0165 0.205 -0.000594 -0.000592 -0.00168 -0.00167 -0.274 -1.53e-05 -5.78e-05 -4.65e-06 -2.21e-05 1.77e-05 -0.0016 0.204 0.00201 0.435 0 0 0 0 0 4.93e-06 0.000429 0.000429 0.00013 0.0999 0.0999 0.0863 0.0782 0.0791 0.0782 0.0791 0.0614 5.72e-09 5.73e-09 5.98e-09 3.72e-06 3.72e-06 5e-08 0 0 0 0 0 0 0 0
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118 11590000 0.982 -0.00607 -0.0122 0.188 0.00157 0.0146 0.213 0.000625 0.000628 9.63e-05 9.52e-05 -0.147 -1.41e-05 -5.8e-05 -5.58e-06 -1.76e-05 3.67e-05 -0.00162 0.204 0.00201 0.435 0 0 0 0 0 4.91e-06 0.000333 0.000333 0.00013 0.0821 0.0822 0.0821 0.0822 0.0432 0.0529 0.0535 0.0529 0.0535 0.0609 5.13e-09 5.14e-09 5.34e-09 3.58e-06 3.58e-06 5e-08 0 0 0 0 0 0 0 0
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