Revision 0:976ab2e4e4bd, committed 2010-09-06

Comitter:

aberk

Date:

Mon Sep 06 13:54:41 2010 +0000

Child:

1:8a920397b510

Commit message:

Added filter tuning parameter to constructor.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMUfilter.cpp	Mon Sep 06 13:54:41 2010 +0000
@@ -0,0 +1,210 @@
+/**
+ * @author Aaron Berk
+ * 
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * IMU orientation filter developed by Sebastian Madgwick.
+ *
+ * Find more details about his paper here:
+ *
+ * http://code.google.com/p/imumargalgorithm30042010sohm/ 
+ */
+
+/**
+ * Includes
+ */
+#include "IMUfilter.h"
+
+IMUfilter::IMUfilter(double rate, double gyroscopeMeasurementError){
+
+    firstUpdate = 0;
+    
+    //Quaternion orientation of earth frame relative to auxiliary frame.
+    AEq_1 = 1;
+    AEq_2 = 0;
+    AEq_3 = 0;
+    AEq_4 = 0;
+    
+    //Estimated orientation quaternion elements with initial conditions.
+    SEq_1 = 1;
+    SEq_2 = 0;
+    SEq_3 = 0;
+    SEq_4 = 0;
+
+    //Sampling period (typical value is ~0.1s).
+    deltat = rate;
+    
+    //Gyroscope measurement error (in degrees per second).
+    gyroMeasError = gyroscopeMeasurementError;
+    
+    //Compute beta.
+    beta = sqrt(3.0 / 4.0) * (PI * (gyroMeasError / 180.0));
+
+}
+
+void IMUfilter::updateFilter(double w_x, double w_y, double w_z, double a_x, double a_y, double a_z) {
+
+    //Local system variables.
+
+    //Vector norm.
+    double norm;
+    //Quaternion rate from gyroscope elements.
+    double SEqDot_omega_1;
+    double SEqDot_omega_2;
+    double SEqDot_omega_3;
+    double SEqDot_omega_4;
+    //Objective function elements.
+    double f_1;
+    double f_2;
+    double f_3;
+    //Objective function Jacobian elements.
+    double J_11or24;
+    double J_12or23;
+    double J_13or22;
+    double J_14or21;
+    double J_32;
+    double J_33;
+    //Objective function gradient elements.
+    double nablaf_1;
+    double nablaf_2;
+    double nablaf_3;
+    double nablaf_4;
+
+    //Auxiliary variables to avoid reapeated calcualtions.
+    double halfSEq_1 = 0.5 * SEq_1;
+    double halfSEq_2 = 0.5 * SEq_2;
+    double halfSEq_3 = 0.5 * SEq_3;
+    double halfSEq_4 = 0.5 * SEq_4;
+    double twoSEq_1 = 2.0 * SEq_1;
+    double twoSEq_2 = 2.0 * SEq_2;
+    double twoSEq_3 = 2.0 * SEq_3;
+
+    //Compute the quaternion rate measured by gyroscopes.
+    SEqDot_omega_1 = -halfSEq_2 * w_x - halfSEq_3 * w_y - halfSEq_4 * w_z;
+    SEqDot_omega_2 = halfSEq_1 * w_x + halfSEq_3 * w_z - halfSEq_4 * w_y;
+    SEqDot_omega_3 = halfSEq_1 * w_y - halfSEq_2 * w_z + halfSEq_4 * w_x;
+    SEqDot_omega_4 = halfSEq_1 * w_z + halfSEq_2 * w_y - halfSEq_3 * w_x;
+
+    //Normalise the accelerometer measurement.
+    norm = sqrt(a_x * a_x + a_y * a_y + a_z * a_z);
+    a_x /= norm;
+    a_y /= norm;
+    a_z /= norm;
+
+    //Compute the objective function and Jacobian.
+    f_1 = twoSEq_2 * SEq_4 - twoSEq_1 * SEq_3 - a_x;
+    f_2 = twoSEq_1 * SEq_2 + twoSEq_3 * SEq_4 - a_y;
+    f_3 = 1.0 - twoSEq_2 * SEq_2 - twoSEq_3 * SEq_3 - a_z;
+    //J_11 negated in matrix multiplication.
+    J_11or24 = twoSEq_3;
+    J_12or23 = 2 * SEq_4;
+    //J_12 negated in matrix multiplication
+    J_13or22 = twoSEq_1;
+    J_14or21 = twoSEq_2;
+    //Negated in matrix multiplication.
+    J_32 = 2 * J_14or21;
+    //Negated in matrix multiplication.
+    J_33 = 2 * J_11or24;
+
+    //Compute the gradient (matrix multiplication).
+    nablaf_1 = J_14or21 * f_2 - J_11or24 * f_1;
+    nablaf_2 = J_12or23 * f_1 + J_13or22 * f_2 - J_32 * f_3;
+    nablaf_3 = J_12or23 * f_2 - J_33 * f_3 - J_13or22 * f_1;
+    nablaf_4 = J_14or21 * f_1 + J_11or24 * f_2;
+
+    //Normalise the gradient.
+    norm = sqrt(nablaf_1 * nablaf_1 + nablaf_2 * nablaf_2 + nablaf_3 * nablaf_3 + nablaf_4 * nablaf_4);
+    nablaf_1 /= norm;
+    nablaf_2 /= norm;
+    nablaf_3 /= norm;
+    nablaf_4 /= norm;
+
+    //Compute then integrate the estimated quaternion rate.
+    SEq_1 += (SEqDot_omega_1 - (beta * nablaf_1)) * deltat;
+    SEq_2 += (SEqDot_omega_2 - (beta * nablaf_2)) * deltat;
+    SEq_3 += (SEqDot_omega_3 - (beta * nablaf_3)) * deltat;
+    SEq_4 += (SEqDot_omega_4 - (beta * nablaf_4)) * deltat;
+
+    //Normalise quaternion
+    norm = sqrt(SEq_1 * SEq_1 + SEq_2 * SEq_2 + SEq_3 * SEq_3 + SEq_4 * SEq_4);
+    SEq_1 /= norm;
+    SEq_2 /= norm;
+    SEq_3 /= norm;
+    SEq_4 /= norm;
+
+    if (firstUpdate == 0) {
+        //Store orientation of auxiliary frame.
+        AEq_1 = SEq_1;
+        AEq_2 = SEq_2;
+        AEq_3 = SEq_3;
+        AEq_4 = SEq_4;
+        firstUpdate = 1;
+    }
+
+}
+
+void IMUfilter::computeEuler(void){
+
+    //Quaternion describing orientation of sensor relative to earth.
+    double ESq_1, ESq_2, ESq_3, ESq_4;
+    //Quaternion describing orientation of sensor relative to auxiliary frame.
+    double ASq_1, ASq_2, ASq_3, ASq_4;    
+                              
+    //Compute the quaternion conjugate.
+    ESq_1 = SEq_1;
+    ESq_2 = -SEq_2;
+    ESq_3 = -SEq_3;
+    ESq_4 = -SEq_4;
+
+    //Compute the quaternion product.
+    ASq_1 = ESq_1 * AEq_1 - ESq_2 * AEq_2 - ESq_3 * AEq_3 - ESq_4 * AEq_4;
+    ASq_2 = ESq_1 * AEq_2 + ESq_2 * AEq_1 + ESq_3 * AEq_4 - ESq_4 * AEq_3;
+    ASq_3 = ESq_1 * AEq_3 - ESq_2 * AEq_4 + ESq_3 * AEq_1 + ESq_4 * AEq_2;
+    ASq_4 = ESq_1 * AEq_4 + ESq_2 * AEq_3 - ESq_3 * AEq_2 + ESq_4 * AEq_1;
+
+    //Compute the Euler angles from the quaternion.
+    phi = atan2(2 * ASq_3 * ASq_4 - 2 * ASq_1 * ASq_2, 2 * ASq_1 * ASq_1 + 2 * ASq_4 * ASq_4 - 1);
+    theta = asin(2 * ASq_2 * ASq_3 - 2 * ASq_1 * ASq_3);
+    psi = atan2(2 * ASq_2 * ASq_3 - 2 * ASq_1 * ASq_4, 2 * ASq_1 * ASq_1 + 2 * ASq_2 * ASq_2 - 1);
+
+}
+
+double IMUfilter::getRoll(void){
+
+    return phi;
+
+}
+
+double IMUfilter::getPitch(void){
+
+    return theta;
+
+}
+
+double IMUfilter::getYaw(void){
+
+    return psi;
+
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IMUfilter.h	Mon Sep 06 13:54:41 2010 +0000
@@ -0,0 +1,138 @@
+/**
+ * @author Aaron Berk
+ *
+ * @section LICENSE
+ *
+ * Copyright (c) 2010 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ * @section DESCRIPTION
+ *
+ * IMU orientation filter developed by Sebastian Madgwick.
+ *
+ * Find more details about his paper here:
+ *
+ * http://code.google.com/p/imumargalgorithm30042010sohm/
+ */
+
+#ifndef IMU_FILTER_H
+#define IMU_FILTER_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+/**
+ * Defines
+ */
+#define PI 3.1415926536
+
+/**
+ * IMU orientation filter.
+ */
+class IMUfilter {
+
+public:
+
+    /**
+     * Constructor.
+     *
+     * Initializes filter variables.
+     *
+     * @param rate The rate at which the filter should be updated.
+     * @param gyroscopeMeasurementError The error of the gyroscope in degrees
+     *  per second. This used to calculate a tuning constant for the filter.
+     *  Try changing this value if there are jittery readings, or they change
+     *  too much or too fast when rotating the IMU.
+     */
+    IMUfilter(double rate, double gyroscopeMeasurementError);
+
+    /**
+     * Update the filter variables.
+     *
+     * @param w_x X-axis gyroscope reading in rad/s.
+     * @param w_y Y-axis gyroscope reading in rad/s.
+     * @param w_z Z-axis gyroscope reading in rad/s.
+     * @param a_x X-axis accelerometer reading in m/s/s.
+     * @param a_y Y-axis accelerometer reading in m/s/s.
+     * @param a_z Z-axis accelerometer reading in m/s/s.
+     */
+    void updateFilter(double w_x, double w_y, double w_z,
+                      double a_x, double a_y, double a_z);
+
+    /**
+     * Compute the Euler angles based on the current filter data.
+     */
+    void computeEuler(void);
+
+    /**
+     * Get the current roll.
+     *
+     * @return The current roll angle in radians.
+     */
+    double getRoll(void);
+
+    /**
+     * Get the current pitch.
+     *
+     * @return The current pitch angle in radians.
+     */
+    double getPitch(void);
+
+    /**
+     * Get the current yaw.
+     *
+     * @return The current yaw angle in radians.
+     */
+    double getYaw(void);
+
+private:
+
+    int firstUpdate;
+
+    //Quaternion orientation of earth frame relative to auxiliary frame.
+    double AEq_1;
+    double AEq_2;
+    double AEq_3;
+    double AEq_4;
+
+    //Estimated orientation quaternion elements with initial conditions.
+    double SEq_1;
+    double SEq_2;
+    double SEq_3;
+    double SEq_4;
+
+    //Sampling period
+    double deltat;
+
+    //Gyroscope measurement error (in degrees per second).
+    double gyroMeasError;
+
+    //Compute beta (filter tuning constant..
+    double beta;
+
+    double phi;
+    double theta;
+    double psi;
+
+};
+
+#endif /* IMU_FILTER_H */