From 625343dbe8cd9a1d421f9fed651e0f75043bf250 Mon Sep 17 00:00:00 2001 From: ZhiQiang_Yang98 <565093967qq.com> Date: Sat, 1 Apr 2023 19:21:22 +0800 Subject: [PATCH] =?UTF-8?q?1:=20t=E6=B7=BB=E5=8A=A0=E9=80=82=E7=94=A8?= =?UTF-8?q?=E4=BA=8E=E5=AE=9E=E6=97=B6=E7=89=88=E6=9C=AC=E7=9A=84rt=5Fupda?= =?UTF-8?q?teins=202:=E6=B7=BB=E5=8A=A0MPU6050=E7=9B=B8=E5=85=B3=E5=8F=82?= =?UTF-8?q?=E6=95=B0=203:=E9=92=88=E5=AF=B9=E6=88=91=E4=BB=AC=E6=9D=BF?= =?UTF-8?q?=E5=AD=90doppler=E8=A7=82=E6=B5=8B=E5=80=BC=E9=97=AE=E9=A2=98?= =?UTF-8?q?=E8=BF=9B=E8=A1=8C=E4=BF=AE=E6=AD=A3?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TC_NAV_Zjut_post/Src/pntpos.c | 10 +- TC_NAV_Zjut_post/Src/real_time/ins.c | 87 ++ TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c | 21 +- .../CMakeFiles/TC_NAV_Zjut.dir/Src/binex.c.o | Bin 70664 -> 70664 bytes .../TC_NAV_Zjut.dir/Src/convgpx.c.o | Bin 15144 -> 15144 bytes .../TC_NAV_Zjut.dir/Src/convkml.c.o | Bin 18576 -> 18576 bytes 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.../CMakeFiles/TC_NAV_Zjut.dir/Src/ublox.c.o | Bin 139040 -> 139040 bytes .../TC_NAV_Zjut.dir/compiler_depend.internal | 632 ++++++++++++++ .../TC_NAV_Zjut.dir/compiler_depend.make | 791 ++++++++++++++++-- .../cmake-build-debug/TC_NAV_Zjut | Bin 1682600 -> 1682568 bytes .../Testing/Temporary/LastTest.log | 4 +- TC_NAV_Zjut_post/include/rtklib.h | 3 + TC_NAV_Zjut_post/main.c | 9 +- 56 files changed, 1464 insertions(+), 93 deletions(-) diff --git a/TC_NAV_Zjut_post/Src/pntpos.c b/TC_NAV_Zjut_post/Src/pntpos.c index 8c33100..11f7e0a 100644 --- a/TC_NAV_Zjut_post/Src/pntpos.c +++ b/TC_NAV_Zjut_post/Src/pntpos.c @@ -570,7 +570,11 @@ static int tc_rescode(int iter, const obsd_t *obs, int n, const double *rs, rate=dot(vs,e,3)+OMGE/CLIGHT*(rs[4+i*6]*rr[0]+rs[1+i*6]*vr[0]- rs[3+i*6]*rr[1]-rs[ i*6]*vr[1]); /* doppler residual */ +#ifdef LG69T v[2*nv+1]=(-obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2])); +#elif defined(MPU6050) + v[2*nv+1]=(obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2])); +#endif if(1){ jaco_dop_dp(rs+6*i,rr,rs+3+6*i,vr,dopdp); @@ -824,7 +828,11 @@ static int resdop(const obsd_t *obs, int n, const double *rs, const double *dts, sig=(err<=0.0)?1.0:err*CLIGHT/freq; /* range rate residual (m/s) */ - v[nv]=(-obs[i].D[0]*CLIGHT/freq-(rate+x[3]-CLIGHT*dts[1+i*2]))/sig; +#ifdef LG69T + v[2*nv+1]=(-obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2])); +#else + v[2*nv+1]=(obs[i].D[0]*CLIGHT/freq-(rate-CLIGHT*dts[1+i*2])); +#endif /* design matrix */ for (j=0;j<4;j++) { diff --git a/TC_NAV_Zjut_post/Src/real_time/ins.c b/TC_NAV_Zjut_post/Src/real_time/ins.c index 1267393..0200d8f 100644 --- a/TC_NAV_Zjut_post/Src/real_time/ins.c +++ b/TC_NAV_Zjut_post/Src/real_time/ins.c @@ -338,7 +338,94 @@ extern void pregrav(const double *pos, double *g) g[1]+=SQR(OMGE)*pos[1]; /* (2.84) */ #endif } +/* update ins states ---------------------------------------------------------- +* updata ins states with imu measurement data in e-frame +* args : +* ins_t *ins IO ins states +* imudata_t *data I imu measurement data +* return : 0 (fail) or 1 (ok) +*----------------------------------------------------------------------------*/ +extern int rt_updateins(ins_t *ins,const imud_t *data){ + double dt,Cbe[9],fe[3],ge[3],cori[3],Cbb[9]={1,0,0,0,1,0,0,0,1}; + double Ca[9],Ca2[9],a1,a2,mag_alpha,alpha[3]={0},Omg[9]={0},ae[3]={0}; + double das[3]={0},dvs[3]={0},fb[3],acc[3]={0},old_pos[3]={0}; + traceins(3,ins); + trace(3,"imu %lf,%lf,%lf,%lf,%lf,%lf\n",data->accl[0],data->accl[1],data->accl[2],data->gyro[0],data->gyro[1],data->gyro[2]); + savepins(ins); + + dt= timediff(data->syn_time,ins->gtime); + if(dt<0){ + ins->gtime =data->syn_time; + trace(2,"dt<0 dt = %lf\n",dt); + return 0; + } + if(dt > MAXDT || fabs(dt)<1E-6){ + /* update time information */ + ins->dt = dt; + ins->pgtime=ins->gtime; + ins->gtime =data->syn_time; + + trace(2,"time difference too large: %.10fs\n",dt); + return 0; + } + for(int i=0;i<3;i++){ + ins->omgb[i] = data->gyro[i] - ins->gyro_bias[i]; + ins->fb[i] = data->accl[i] - ins->acc_bias[i]; + } + ae[2]=OMGE*dt; + + /* rotational and sculling motion correction */ + rotscull_corr(ins,dt,dvs,das); + + /* update attitude */ + for (int i=0;i<9;i++) Cbe[i]=ins->Cbe[i]; + updateatt(dt,ins->Cbe,ins->omgb,das); + + for (int i=0;i<3;i++) alpha[i]=ins->omgb[i]*dt+das[i]; + skewsym3(alpha,Ca); + /* check if the value is too small to keep numerical robustness */ + if ((mag_alpha=norm(alpha,3))>1E-8) { + a1=(1.0-cos(mag_alpha))/SQR(mag_alpha); + a2=1.0/SQR(mag_alpha)*(1.0-sin(mag_alpha)/mag_alpha); + matmul3("NN",Ca,Ca,Ca2); + for (int i=0;i<9;i++) Cbb[i]+=a1*Ca[i]+a2*Ca2[i]; + skewsym3(ae,Omg); + matmul3("NN",Cbe,Cbb,Ca); + matmul3("NN",Omg,Cbe,Ca2); + for (int i=0;i<9;i++) Cbe[i]=Ca[i]-0.5*Ca2[i]; + } + else { + skewsym3(ae,Omg); + matmul3("NN",Omg,Cbe,Ca); + for (int i=0;i<9;i++) Cbe[i]-=0.5*Ca[i]; + } + + /* specific-force/gravity in e-frame */ + for (int i=0;i<3;i++) fb[i]=ins->fb[i]+dvs[i]/dt; + matmul3v("N",Cbe,fb,fe); + /* precious gravity model */ + pregrav(ins->position,ge); + /* old velocity */ + matcpy(ins->p_velocity,ins->velocity,1,3); + /* update velocity/position */ + matmul3v("N",Omge,ins->velocity,cori); + + for (int i=0;i<3;i++) { + acc[i]=fe[i]+ge[i]-2.0*cori[i]; + ins->velocity[i]+=acc[i]*dt; +// ins->position[i]+=ins->velocity[i]*dt+acc[i]/2.0*dt*dt; + ins->position[i]+=(ins->velocity[i]+ins->p_velocity[i])/2*dt; + } + + ins->dt=timediff(data->syn_time,ins->gtime); + ins->ptime=ins->time; + ins->gtime = data->syn_time; + ins->time = data->time; + ins->stat =INSS_MECH; + + return 1; +} /* update ins states ---------------------------------------------------------- * updata ins states with imu measurement data in e-frame * args : diff --git a/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c b/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c index e9c902f..4c76ac9 100644 --- a/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c +++ b/TC_NAV_Zjut_post/Src/real_time/rt_ins-gnss.c @@ -12,11 +12,9 @@ #define INS_RANDOM_WALK 1 #define INS_GAUSS_MARKOV 2 #define CORRETIME 360 /* correlation time for gauss-markov process */ -#define LG69T /* insopt init ------------------------------------------*/ extern void rt_insopt_init(insopt_t *insopt){ -#ifdef LG69T insopt->init_att_unc = 10.0*D2R; insopt->init_vel_unc =30.0; insopt->init_pos_unc = 30.0; @@ -24,17 +22,17 @@ extern void rt_insopt_init(insopt_t *insopt){ insopt->init_b_g_unc = (30.0 *D2R/3600); insopt->init_clk_offset_unc = 100.0; insopt->init_cllk_drift_unc = 10.0; - +#ifdef LG69T insopt->gyro_noise_PSD = (4.5608709013908013e-7); insopt->accel_noise_PSD = (1.3516059391412613e-2); insopt->accel_bias_PSD = (6.2711800396676807e-7); insopt->gyro_bias_PSD = (1.2475185921386573e-10); - -// insopt->gyro_noise_PSD = (7.5608709013908013e-4); -// insopt->accel_noise_PSD = (2.3516059391412613e-2); -// insopt->accel_bias_PSD = 6.2711800396676807e-4; -// insopt->gyro_bias_PSD = 1.2475185921386573e-9; - +#elif defined(MPU6050) + insopt->gyro_noise_PSD = 9.6624038359801494e-04; + insopt->accel_noise_PSD = 1.6859942078067028e-02; + insopt->accel_bias_PSD = 7.0943796082649242e-04; + insopt->gyro_bias_PSD = 1.6540434623057674e-05; +#endif insopt->clock_freq_PSD = 1.0; insopt->clock_phase_PSD = 1.0; @@ -51,9 +49,6 @@ extern void rt_insopt_init(insopt_t *insopt){ insopt->L_ba_b[2]=-0.8; insopt->noise_type = INS_GAUSS_MARKOV; -#elif - -#endif } /* get number of phase bias */ extern int xnB(const insopt_t *insopt){ @@ -654,7 +649,7 @@ extern int tcigpos(const prcopt_t *opt,const obsd_t *obs,int n,const nav_t *nav, ins->stat = INSS_NONE; /* update ins states in e-frame */ /* dt 在这里取值 */ - if(!updateins(ins,imu)){ + if(!rt_updateins(ins,imu)){ trace(2,"ins mechanization update fail\n"); return 0; } diff --git a/TC_NAV_Zjut_post/cmake-build-debug/CMakeFiles/TC_NAV_Zjut.dir/Src/binex.c.o b/TC_NAV_Zjut_post/cmake-build-debug/CMakeFiles/TC_NAV_Zjut.dir/Src/binex.c.o index 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ztS&aIT(*H-W02TKLS@sMceA>*e`DzCYk!4r-_sa$!CMMsZy)wZm^aE&qhHEyWlogt zs}MwJpq43JYs!l)e(t6adrhJFuo-tU9VD9PLy0;*SEzvi#6SGR2xeezd|A6888gpc zW7(Wru{&2jAj7%IG_ry8JTaTt2g&ir#lX#{gpcv#_UKXFoFcvv5avqyn~>Utz<+L2 z9E3s{g}Lpg7Ue^Ecz(PSCr=7BUEO*fgqueA1TlCF=Q*UlF;n8B;HUeRXNL)4&y2fw zWVhfXgF~je){-$3z4lm(;b7mg;S4b$%zH5*1Ba#~zVg@jz1mVc3yxy#hch zNs;jNz#*er18=-W;{LpN(-$jUf&(KP&KEzhgs_y0t1fIj#TB-IWB_mX*jz`Vj<*t7Ba#3B diff --git a/TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log b/TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log index 7c67329..0a31f6c 100644 --- a/TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log +++ b/TC_NAV_Zjut_post/cmake-build-debug/Testing/Temporary/LastTest.log @@ -1,3 +1,3 @@ -Start testing: Mar 30 10:14 CST +Start testing: Apr 01 15:31 CST ---------------------------------------------------------- -End testing: Mar 30 10:14 CST +End testing: Apr 01 15:31 CST diff --git a/TC_NAV_Zjut_post/include/rtklib.h b/TC_NAV_Zjut_post/include/rtklib.h index f542b15..741a6e3 100644 --- a/TC_NAV_Zjut_post/include/rtklib.h +++ b/TC_NAV_Zjut_post/include/rtklib.h @@ -585,6 +585,8 @@ extern "C" { #endif //#define CLIENT 0 +#define MPU6050 + /* type definitions ----------------------------------------------------------*/ @@ -1574,6 +1576,7 @@ EXPORT void gravity_ned(const double *pos,double *gn); EXPORT double gravity0(const double *pos); EXPORT void gravity(const double *re, double *ge); EXPORT int updateins(ins_t *ins,const imud_t *data); +EXPORT int rt_updateins(ins_t *ins,const imud_t *data); EXPORT void dcm2rpy(const double *Cnb,double *rpy); EXPORT void rpy2dcm(const double *rpy,double *Cnb); EXPORT void getatt(const ins_t *ins,double *rpy); diff --git a/TC_NAV_Zjut_post/main.c b/TC_NAV_Zjut_post/main.c index 510db51..9da0170 100644 --- a/TC_NAV_Zjut_post/main.c +++ b/TC_NAV_Zjut_post/main.c @@ -2,6 +2,7 @@ #include "sys/stat.h" #include "rtklib.h" +#define RT int main(int argc, char **argv) { char *imu_path="../data/630_3/IMU.csv"; @@ -9,10 +10,16 @@ int main(int argc, char **argv) { char *sat_path="../data/630_3/Sat.csv"; char *obs_path="../data/630_3/r.obs"; char *nav_path="../data/630_3/r.nav"; - +#ifdef RT + if(!tcpos()){ + trace(2,"post time tightly coupled fail\n"); + return 0; + } +#else if(!ps_tcpos(imu_path,pvt_path,sat_path,obs_path,nav_path)){ trace(2,"post time tightly coupled fail\n"); return 0; } return 0; +#endif }