ImuUpdater Class Reference

EKF Updater Class for IMU Sensors. More...

#include <imu_updater.hpp>

Inheritance diagram for ImuUpdater:

Collaboration diagram for ImuUpdater:

Public Member Functions
	ImuUpdater (unsigned int imu_id, bool is_extrinsic, bool is_intrinsic, const std::string &log_file_directory, double data_log_rate, std::shared_ptr< DebugLogger > logger)
	IMU EKF Updater Constructor. More...
Eigen::VectorXd	PredictMeasurement (EKF &ekf)
	Predict acceleration measurement. More...
Eigen::MatrixXd	GetZeroAccelerationJacobian (EKF &ekf)
	Zero acceleration Jacobian method. More...
void	UpdateEKF (EKF &ekf, double time, const Eigen::Vector3d &acceleration, const Eigen::Matrix3d &acceleration_covariance, const Eigen::Vector3d &angular_rate, const Eigen::Matrix3d &angular_rate_covariance)
	EKF update method for IMU measurements. More...
bool	ZeroAccelerationUpdate (EKF &ekf, double local_time, const Eigen::Vector3d &acceleration, const Eigen::Matrix3d &acceleration_covariance, const Eigen::Vector3d &angular_rate, const Eigen::Matrix3d &angular_rate_covariance)
	Check for and perform a zero-acceleration update. More...
Eigen::MatrixXd	GetMeasurementJacobian (EKF &ekf)
	Calculate measurement jacobian. More...
void	AngularUpdate (EKF &ekf, const Eigen::Vector3d &angular_rate, const Eigen::Matrix3d &angular_rate_covariance)
	IMU state angular rate updater. More...
Public Member Functions inherited from Updater
	Updater (unsigned int sensor_id, std::shared_ptr< DebugLogger > logger)
	EKF Updater constructor. More...
void	KalmanUpdate (EKF &ekf, const Eigen::MatrixXd &jacobian, const Eigen::VectorXd &residual, const Eigen::MatrixXd &measurement_noise)

Additional Inherited Members
Protected Attributes inherited from Updater
unsigned int	m_id
	Associated sensor ID.
std::shared_ptr< DebugLogger >	m_logger
	Debug logger.

Detailed Description

EKF Updater Class for IMU Sensors.

Constructor & Destructor Documentation

ImuUpdater()

ImuUpdater::ImuUpdater	(	unsigned int	imu_id,
		bool	is_extrinsic,
		bool	is_intrinsic,
		const std::string &	log_file_directory,
		double	data_log_rate,
		std::shared_ptr< DebugLogger >	logger
	)

IMU EKF Updater Constructor.

Parameters

imu_id	IMU Sensor ID
is_extrinsic	switch if this is the base sensor
is_intrinsic	switch if imu intrinsics should be calibrated
log_file_directory	Logging file directory
data_log_rate	Maximum average rate to log data
logger	Debug logger pointer

Member Function Documentation

AngularUpdate()

void ImuUpdater::AngularUpdate	(	EKF &	ekf,
		const Eigen::Vector3d &	angular_rate,
		const Eigen::Matrix3d &	angular_rate_covariance
	)

IMU state angular rate updater.

Parameters

angular_rate	Angular rate measurement
angular_rate_covariance	Angular rate covariance
omg_bias	Angular rate bias

GetMeasurementJacobian()

Eigen::MatrixXd ImuUpdater::GetMeasurementJacobian

(

EKF &

ekf

)

Calculate measurement jacobian.

Parameters

pos_i_in_b	IMU position in the body frame
ang_i_to_b	IMU orientation to the body frame
ang_b_to_l	Body orientation to the local frame

Returns

Measurement jacobian

GetZeroAccelerationJacobian()

Eigen::MatrixXd ImuUpdater::GetZeroAccelerationJacobian

(

EKF &

ekf

)

Zero acceleration Jacobian method.

Parameters

ekf	EKF pointer

Returns

Measurement Jacobian matrix

PredictMeasurement()

Eigen::VectorXd ImuUpdater::PredictMeasurement

(

EKF &

ekf

)

Predict acceleration measurement.

TODO: The frames are not correct here.

Parameters

ekf	EKF pointer

Returns

Predicted measurement vector

UpdateEKF()

void ImuUpdater::UpdateEKF	(	EKF &	ekf,
		double	time,
		const Eigen::Vector3d &	acceleration,
		const Eigen::Matrix3d &	acceleration_covariance,
		const Eigen::Vector3d &	angular_rate,
		const Eigen::Matrix3d &	angular_rate_covariance
	)

EKF update method for IMU measurements.

Parameters

ekf	EKF pointer
time	Measurement time
acceleration	Measured acceleration
acceleration_covariance	Estimated acceleration error
angular_rate	Measured angular rate
angular_rate_covariance	Estimated angular rate error

ZeroAccelerationUpdate()

bool ImuUpdater::ZeroAccelerationUpdate	(	EKF &	ekf,
		double	local_time,
		const Eigen::Vector3d &	acceleration,
		const Eigen::Matrix3d &	acceleration_covariance,
		const Eigen::Vector3d &	angular_rate,
		const Eigen::Matrix3d &	angular_rate_covariance
	)

Check for and perform a zero-acceleration update.

Parameters

ekf	EKF pointer
local_time	Measurement in local EKF time
acceleration	Measured acceleration
acceleration_covariance	Estimated acceleration error
angular_rate	Measured angular rate
angular_rate_covariance	Estimated angular rate error

Todo:

Test stationary rotation

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The documentation for this class was generated from the following files:

• src/ekf/update/imu_updater.hpp
• src/ekf/update/imu_updater.cpp