def handle_gps(self, current_time, log): self.converter = coord.LocalCoord.from_geodetic( [log.latitude, log.longitude, log.altitude]) fix_ecef = self.converter.ned2ecef([0, 0, 0]) #self.time = GPSTime.from_datetime(datetime.utcfromtimestamp(log.timestamp*1e-3)) self.unix_timestamp_millis = log.timestamp # TODO initing with bad bearing not allowed, maybe not bad? if not self.filter_ready and log.speed > 5: self.filter_ready = True initial_ecef = fix_ecef gps_bearing = math.radians(log.bearing) initial_pose_ecef = ecef_euler_from_ned(initial_ecef, [0, 0, gps_bearing]) initial_pose_ecef_quat = quat_from_euler(initial_pose_ecef) gps_speed = log.speed quat_uncertainty = 0.2**2 initial_pose_ecef_quat = quat_from_euler(initial_pose_ecef) initial_state = LiveKalman.initial_x initial_covs_diag = LiveKalman.initial_P_diag initial_state[States.ECEF_POS] = initial_ecef initial_state[States.ECEF_ORIENTATION] = initial_pose_ecef_quat initial_state[States.ECEF_VELOCITY] = rot_from_quat( initial_pose_ecef_quat).dot(np.array([gps_speed, 0, 0])) initial_covs_diag[States.ECEF_POS_ERR] = 10**2 initial_covs_diag[States.ECEF_ORIENTATION_ERR] = quat_uncertainty initial_covs_diag[States.ECEF_VELOCITY_ERR] = 1**2 self.kf.init_state(initial_state, covs=np.diag(initial_covs_diag), filter_time=current_time) cloudlog.info("Filter initialized") elif self.filter_ready: self.update_kalman(current_time, ObservationKind.ECEF_POS, fix_ecef) gps_est_error = np.sqrt((self.kf.x[0] - fix_ecef[0])**2 + (self.kf.x[1] - fix_ecef[1])**2 + (self.kf.x[2] - fix_ecef[2])**2) if gps_est_error > 50: cloudlog.error( "Locationd vs ubloxLocation difference too large, kalman reset" ) self.reset_kalman()
def msg_from_state(converter, calib_from_device, H, predicted_state, predicted_cov): predicted_std = np.sqrt(np.diagonal(predicted_cov)) fix_ecef = predicted_state[States.ECEF_POS] fix_ecef_std = predicted_std[States.ECEF_POS_ERR] vel_ecef = predicted_state[States.ECEF_VELOCITY] vel_ecef_std = predicted_std[States.ECEF_VELOCITY_ERR] fix_pos_geo = coord.ecef2geodetic(fix_ecef) #fix_pos_geo_std = np.abs(coord.ecef2geodetic(fix_ecef + fix_ecef_std) - fix_pos_geo) orientation_ecef = euler_from_quat( predicted_state[States.ECEF_ORIENTATION]) orientation_ecef_std = predicted_std[States.ECEF_ORIENTATION_ERR] device_from_ecef = rot_from_quat( predicted_state[States.ECEF_ORIENTATION]).T calibrated_orientation_ecef = euler_from_rot( calib_from_device.dot(device_from_ecef)) acc_calib = calib_from_device.dot(predicted_state[States.ACCELERATION]) acc_calib_std = np.sqrt( np.diagonal( calib_from_device.dot( predicted_cov[States.ACCELERATION_ERR, States.ACCELERATION_ERR]).dot( calib_from_device.T))) ang_vel_calib = calib_from_device.dot( predicted_state[States.ANGULAR_VELOCITY]) ang_vel_calib_std = np.sqrt( np.diagonal( calib_from_device.dot( predicted_cov[States.ANGULAR_VELOCITY_ERR, States.ANGULAR_VELOCITY_ERR]).dot( calib_from_device.T))) vel_device = device_from_ecef.dot(vel_ecef) device_from_ecef_eul = euler_from_quat( predicted_state[States.ECEF_ORIENTATION]).T idxs = list(range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + \ list(range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop)) condensed_cov = predicted_cov[idxs][:, idxs] HH = H(*list(np.concatenate([device_from_ecef_eul, vel_ecef]))) vel_device_cov = HH.dot(condensed_cov).dot(HH.T) vel_device_std = np.sqrt(np.diagonal(vel_device_cov)) vel_calib = calib_from_device.dot(vel_device) vel_calib_std = np.sqrt( np.diagonal( calib_from_device.dot(vel_device_cov).dot( calib_from_device.T))) orientation_ned = ned_euler_from_ecef(fix_ecef, orientation_ecef) #orientation_ned_std = ned_euler_from_ecef(fix_ecef, orientation_ecef + orientation_ecef_std) - orientation_ned ned_vel = converter.ecef2ned(fix_ecef + vel_ecef) - converter.ecef2ned(fix_ecef) #ned_vel_std = self.converter.ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter.ecef2ned(fix_ecef + vel_ecef) fix = messaging.log.LiveLocationKalman.new_message() # write measurements to msg measurements = [ # measurement field, value, std, valid (fix.positionGeodetic, fix_pos_geo, np.nan * np.zeros(3), True), (fix.positionECEF, fix_ecef, fix_ecef_std, True), (fix.velocityECEF, vel_ecef, vel_ecef_std, True), (fix.velocityNED, ned_vel, np.nan * np.zeros(3), True), (fix.velocityDevice, vel_device, vel_device_std, True), (fix.accelerationDevice, predicted_state[States.ACCELERATION], predicted_std[States.ACCELERATION_ERR], True), (fix.orientationECEF, orientation_ecef, orientation_ecef_std, True), (fix.calibratedOrientationECEF, calibrated_orientation_ecef, np.nan * np.zeros(3), True), (fix.orientationNED, orientation_ned, np.nan * np.zeros(3), True), (fix.angularVelocityDevice, predicted_state[States.ANGULAR_VELOCITY], predicted_std[States.ANGULAR_VELOCITY_ERR], True), (fix.velocityCalibrated, vel_calib, vel_calib_std, True), (fix.angularVelocityCalibrated, ang_vel_calib, ang_vel_calib_std, True), (fix.accelerationCalibrated, acc_calib, acc_calib_std, True), ] for field, value, std, valid in measurements: # TODO: can we write the lists faster? field.value = to_float(value) field.std = to_float(std) field.valid = valid return fix
def msg_from_state(converter, calib_from_device, H, predicted_state, predicted_cov): predicted_std = np.sqrt(np.diagonal(predicted_cov)) fix_ecef = predicted_state[States.ECEF_POS] fix_ecef_std = predicted_std[States.ECEF_POS_ERR] vel_ecef = predicted_state[States.ECEF_VELOCITY] vel_ecef_std = predicted_std[States.ECEF_VELOCITY_ERR] fix_pos_geo = coord.ecef2geodetic(fix_ecef) #fix_pos_geo_std = np.abs(coord.ecef2geodetic(fix_ecef + fix_ecef_std) - fix_pos_geo) orientation_ecef = euler_from_quat( predicted_state[States.ECEF_ORIENTATION]) orientation_ecef_std = predicted_std[States.ECEF_ORIENTATION_ERR] acc_calib = calib_from_device.dot(predicted_state[States.ACCELERATION]) acc_calib_std = np.sqrt( np.diagonal( calib_from_device.dot( predicted_cov[States.ACCELERATION_ERR, States.ACCELERATION_ERR]).dot( calib_from_device.T))) ang_vel_calib = calib_from_device.dot( predicted_state[States.ANGULAR_VELOCITY]) ang_vel_calib_std = np.sqrt( np.diagonal( calib_from_device.dot( predicted_cov[States.ANGULAR_VELOCITY_ERR, States.ANGULAR_VELOCITY_ERR]).dot( calib_from_device.T))) device_from_ecef = rot_from_quat( predicted_state[States.ECEF_ORIENTATION]).T vel_device = device_from_ecef.dot(vel_ecef) device_from_ecef_eul = euler_from_quat( predicted_state[States.ECEF_ORIENTATION]).T idxs = list( range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + list( range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop)) condensed_cov = predicted_cov[idxs][:, idxs] HH = H(*list(np.concatenate([device_from_ecef_eul, vel_ecef]))) vel_device_cov = HH.dot(condensed_cov).dot(HH.T) vel_device_std = np.sqrt(np.diagonal(vel_device_cov)) vel_calib = calib_from_device.dot(vel_device) vel_calib_std = np.sqrt( np.diagonal( calib_from_device.dot(vel_device_cov).dot( calib_from_device.T))) orientation_ned = ned_euler_from_ecef(fix_ecef, orientation_ecef) #orientation_ned_std = ned_euler_from_ecef(fix_ecef, orientation_ecef + orientation_ecef_std) - orientation_ned ned_vel = converter.ecef2ned(fix_ecef + vel_ecef) - converter.ecef2ned(fix_ecef) #ned_vel_std = self.converter.ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter.ecef2ned(fix_ecef + vel_ecef) fix = messaging.log.LiveLocationKalman.new_message() fix.positionGeodetic.value = to_float(fix_pos_geo) #fix.positionGeodetic.std = to_float(fix_pos_geo_std) #fix.positionGeodetic.valid = True fix.positionECEF.value = to_float(fix_ecef) fix.positionECEF.std = to_float(fix_ecef_std) fix.positionECEF.valid = True fix.velocityECEF.value = to_float(vel_ecef) fix.velocityECEF.std = to_float(vel_ecef_std) fix.velocityECEF.valid = True fix.velocityNED.value = to_float(ned_vel) #fix.velocityNED.std = to_float(ned_vel_std) #fix.velocityNED.valid = True fix.velocityDevice.value = to_float(vel_device) fix.velocityDevice.std = to_float(vel_device_std) fix.velocityDevice.valid = True fix.accelerationDevice.value = to_float( predicted_state[States.ACCELERATION]) fix.accelerationDevice.std = to_float( predicted_std[States.ACCELERATION_ERR]) fix.accelerationDevice.valid = True fix.orientationECEF.value = to_float(orientation_ecef) fix.orientationECEF.std = to_float(orientation_ecef_std) fix.orientationECEF.valid = True fix.orientationNED.value = to_float(orientation_ned) #fix.orientationNED.std = to_float(orientation_ned_std) #fix.orientationNED.valid = True fix.angularVelocityDevice.value = to_float( predicted_state[States.ANGULAR_VELOCITY]) fix.angularVelocityDevice.std = to_float( predicted_std[States.ANGULAR_VELOCITY_ERR]) fix.angularVelocityDevice.valid = True fix.velocityCalibrated.value = to_float(vel_calib) fix.velocityCalibrated.std = to_float(vel_calib_std) fix.velocityCalibrated.valid = True fix.angularVelocityCalibrated.value = to_float(ang_vel_calib) fix.angularVelocityCalibrated.std = to_float(ang_vel_calib_std) fix.angularVelocityCalibrated.valid = True fix.accelerationCalibrated.value = to_float(acc_calib) fix.accelerationCalibrated.std = to_float(acc_calib_std) fix.accelerationCalibrated.valid = True return fix
def liveLocationMsg(self, time): predicted_state = self.kf.x predicted_cov = self.kf.P predicted_std = np.sqrt(np.diagonal(self.kf.P)) fix_ecef = predicted_state[States.ECEF_POS] fix_ecef_std = predicted_std[States.ECEF_POS_ERR] vel_ecef = predicted_state[States.ECEF_VELOCITY] vel_ecef_std = predicted_std[States.ECEF_VELOCITY_ERR] fix_pos_geo = coord.ecef2geodetic(fix_ecef) #fix_pos_geo_std = np.abs(coord.ecef2geodetic(fix_ecef + fix_ecef_std) - fix_pos_geo) orientation_ecef = euler_from_quat( predicted_state[States.ECEF_ORIENTATION]) orientation_ecef_std = predicted_std[States.ECEF_ORIENTATION_ERR] acc_calib = self.calib_from_device.dot( predicted_state[States.ACCELERATION]) acc_calib_std = np.sqrt( np.diagonal( self.calib_from_device.dot( predicted_cov[States.ACCELERATION_ERR, States.ACCELERATION_ERR]).dot( self.calib_from_device.T))) ang_vel_calib = self.calib_from_device.dot( predicted_state[States.ANGULAR_VELOCITY]) ang_vel_calib_std = np.sqrt( np.diagonal( self.calib_from_device.dot( predicted_cov[States.ANGULAR_VELOCITY_ERR, States.ANGULAR_VELOCITY_ERR]).dot( self.calib_from_device.T))) device_from_ecef = rot_from_quat( predicted_state[States.ECEF_ORIENTATION]).T vel_device = device_from_ecef.dot(vel_ecef) device_from_ecef_eul = euler_from_quat( predicted_state[States.ECEF_ORIENTATION]).T idxs = list( range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + list( range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop)) condensed_cov = predicted_cov[idxs][:, idxs] H = self.H(*list(np.concatenate([device_from_ecef_eul, vel_ecef]))) vel_device_cov = H.dot(condensed_cov).dot(H.T) vel_device_std = np.sqrt(np.diagonal(vel_device_cov)) vel_calib = self.calib_from_device.dot(vel_device) vel_calib_std = np.sqrt( np.diagonal( self.calib_from_device.dot(vel_device_cov).dot( self.calib_from_device.T))) orientation_ned = ned_euler_from_ecef(fix_ecef, orientation_ecef) #orientation_ned_std = ned_euler_from_ecef(fix_ecef, orientation_ecef + orientation_ecef_std) - orientation_ned ned_vel = self.converter.ecef2ned( fix_ecef + vel_ecef) - self.converter.ecef2ned(fix_ecef) #ned_vel_std = self.converter.ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter.ecef2ned(fix_ecef + vel_ecef) fix = messaging.log.LiveLocationKalman.new_message() fix.positionGeodetic.value = to_float(fix_pos_geo) #fix.positionGeodetic.std = to_float(fix_pos_geo_std) #fix.positionGeodetic.valid = True fix.positionECEF.value = to_float(fix_ecef) fix.positionECEF.std = to_float(fix_ecef_std) fix.positionECEF.valid = True fix.velocityECEF.value = to_float(vel_ecef) fix.velocityECEF.std = to_float(vel_ecef_std) fix.velocityECEF.valid = True fix.velocityNED.value = to_float(ned_vel) #fix.velocityNED.std = to_float(ned_vel_std) #fix.velocityNED.valid = True fix.velocityDevice.value = to_float(vel_device) fix.velocityDevice.std = to_float(vel_device_std) fix.velocityDevice.valid = True fix.accelerationDevice.value = to_float( predicted_state[States.ACCELERATION]) fix.accelerationDevice.std = to_float( predicted_std[States.ACCELERATION_ERR]) fix.accelerationDevice.valid = True fix.orientationECEF.value = to_float(orientation_ecef) fix.orientationECEF.std = to_float(orientation_ecef_std) fix.orientationECEF.valid = True fix.orientationNED.value = to_float(orientation_ned) #fix.orientationNED.std = to_float(orientation_ned_std) #fix.orientationNED.valid = True fix.angularVelocityDevice.value = to_float( predicted_state[States.ANGULAR_VELOCITY]) fix.angularVelocityDevice.std = to_float( predicted_std[States.ANGULAR_VELOCITY_ERR]) fix.angularVelocityDevice.valid = True fix.velocityCalibrated.value = to_float(vel_calib) fix.velocityCalibrated.std = to_float(vel_calib_std) fix.velocityCalibrated.valid = True fix.angularVelocityCalibrated.value = to_float(ang_vel_calib) fix.angularVelocityCalibrated.std = to_float(ang_vel_calib_std) fix.angularVelocityCalibrated.valid = True fix.accelerationCalibrated.value = to_float(acc_calib) fix.accelerationCalibrated.std = to_float(acc_calib_std) fix.accelerationCalibrated.valid = True #fix.gpsWeek = self.time.week #fix.gpsTimeOfWeek = self.time.tow fix.unixTimestampMillis = self.unix_timestamp_millis if self.filter_ready and self.calibrated: fix.status = 'valid' elif self.filter_ready: fix.status = 'uncalibrated' else: fix.status = 'uninitialized' return fix
def liveLocationMsg(self, time): predicted_state = self.kf.x predicted_std = np.diagonal(self.kf.P) fix_ecef = predicted_state[States.ECEF_POS] fix_ecef_std = predicted_std[States.ECEF_POS_ERR] vel_ecef = predicted_state[States.ECEF_VELOCITY] vel_ecef_std = predicted_std[States.ECEF_VELOCITY_ERR] fix_pos_geo = coord.ecef2geodetic(fix_ecef) fix_pos_geo_std = coord.ecef2geodetic(fix_ecef + fix_ecef_std) - fix_pos_geo ned_vel = self.converter.ecef2ned(fix_ecef + vel_ecef) - self.converter.ecef2ned(fix_ecef) ned_vel_std = self.converter.ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter.ecef2ned(fix_ecef + vel_ecef) device_from_ecef = rot_from_quat(predicted_state[States.ECEF_ORIENTATION]).T vel_device = device_from_ecef.dot(vel_ecef) vel_device_std = device_from_ecef.dot(vel_ecef_std) orientation_ecef = euler_from_quat(predicted_state[States.ECEF_ORIENTATION]) orientation_ecef_std = predicted_std[States.ECEF_ORIENTATION_ERR] orientation_ned = ned_euler_from_ecef(fix_ecef, orientation_ecef) orientation_ned_std = ned_euler_from_ecef(fix_ecef, orientation_ecef + orientation_ecef_std) - orientation_ned vel_calib = self.calib_from_device.dot(vel_device) vel_calib_std = self.calib_from_device.dot(vel_device_std) acc_calib = self.calib_from_device.dot(predicted_state[States.ACCELERATION]) acc_calib_std = self.calib_from_device.dot(predicted_std[States.ACCELERATION_ERR]) ang_vel_calib = self.calib_from_device.dot(predicted_state[States.ANGULAR_VELOCITY]) ang_vel_calib_std = self.calib_from_device.dot(predicted_std[States.ANGULAR_VELOCITY_ERR]) fix = messaging.log.LiveLocationKalman.new_message() fix.positionGeodetic.value = to_float(fix_pos_geo) fix.positionGeodetic.std = to_float(fix_pos_geo_std) fix.positionGeodetic.valid = True fix.positionECEF.value = to_float(fix_ecef) fix.positionECEF.std = to_float(fix_ecef_std) fix.positionECEF.valid = True fix.velocityECEF.value = to_float(vel_ecef) fix.velocityECEF.std = to_float(vel_ecef_std) fix.velocityECEF.valid = True fix.velocityNED.value = to_float(ned_vel) fix.velocityNED.std = to_float(ned_vel_std) fix.velocityNED.valid = True fix.velocityDevice.value = to_float(vel_device) fix.velocityDevice.std = to_float(vel_device_std) fix.velocityDevice.valid = True fix.accelerationDevice.value = to_float(predicted_state[States.ACCELERATION]) fix.accelerationDevice.std = to_float(predicted_std[States.ACCELERATION_ERR]) fix.accelerationDevice.valid = True fix.orientationECEF.value = to_float(orientation_ecef) fix.orientationECEF.std = to_float(orientation_ecef_std) fix.orientationECEF.valid = True fix.orientationNED.value = to_float(orientation_ned) fix.orientationNED.std = to_float(orientation_ned_std) fix.orientationNED.valid = True fix.angularVelocityDevice.value = to_float(predicted_state[States.ANGULAR_VELOCITY]) fix.angularVelocityDevice.std = to_float(predicted_std[States.ANGULAR_VELOCITY_ERR]) fix.angularVelocityDevice.valid = True fix.velocityCalibrated.value = to_float(vel_calib) fix.velocityCalibrated.std = to_float(vel_calib_std) fix.velocityCalibrated.valid = True fix.angularVelocityCalibrated.value = to_float(ang_vel_calib) fix.angularVelocityCalibrated.std = to_float(ang_vel_calib_std) fix.angularVelocityCalibrated.valid = True fix.accelerationCalibrated.value = to_float(acc_calib) fix.accelerationCalibrated.std = to_float(acc_calib_std) fix.accelerationCalibrated.valid = True #fix.gpsWeek = self.time.week #fix.gpsTimeOfWeek = self.time.tow fix.unixTimestampMillis = self.unix_timestamp_millis if self.filter_ready and self.calibrated: fix.status = 'valid' elif self.filter_ready: fix.status = 'uncalibrated' else: fix.status = 'uninitialized' return fix