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252 lines
8.7 KiB
252 lines
8.7 KiB
# pylint: skip-file
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import abc
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import numpy as np
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# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
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# A subclass must implement:
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# 1) calc_transfer_fun(); see bottom of file for more info.
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# 2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
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# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
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# Sensor classes are optionally used to pass measurement information into the EKF, to keep
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# sensor parameters and processing methods for a each sensor together.
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# Sensor classes have a read() method which takes raw sensor data and returns
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# a SensorReading object, which can be passed to the EKF update() method.
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# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
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# ekf.predict(dt) should be called between update cycles with the time since it was last called.
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# Ideally, predict(dt) should be called at a relatively constant rate.
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# update() should be called once per sensor, and can be called multiple times between predict steps.
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# Access and set the state of the filter directly with ekf.state and ekf.covar.
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class SensorReading:
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# Given a perfect model and no noise, data = obs_model * state
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def __init__(self, data, covar, obs_model):
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self.data = data
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self.obs_model = obs_model
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self.covar = covar
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def __repr__(self):
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return "SensorReading(data={}, covar={}, obs_model={})".format(
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repr(self.data), repr(self.covar), repr(self.obs_model))
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# A generic sensor class that does no pre-processing of data
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class SimpleSensor:
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# obs_model can be
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# a full observation model matrix, or
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# an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
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# covar can be
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# a full covariance matrix
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# a float or tuple of individual covars for each component of the sensor reading
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# dims is the number of states in the EKF
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def __init__(self, obs_model, covar, dims):
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# Allow for integer covar/obs_model
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if not hasattr(obs_model, "__len__"):
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obs_model = (obs_model, )
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if not hasattr(covar, "__len__"):
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covar = (covar, )
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# Full observation model passed
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if dims in np.array(obs_model).shape:
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self.obs_model = np.asmatrix(obs_model)
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self.covar = np.asmatrix(covar)
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# Indices of unit observations passed
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else:
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self.obs_model = np.matlib.zeros((len(obs_model), dims))
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self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
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if np.asarray(covar).ndim == 2:
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self.covar = np.asmatrix(covar)
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elif len(covar) == len(obs_model):
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self.covar = np.matlib.diag(covar)
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else:
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self.covar = np.matlib.identity(len(obs_model)) * covar
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def read(self, data, covar=None):
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if covar:
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self.covar = covar
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return SensorReading(data, self.covar, self.obs_model)
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class EKF:
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__metaclass__ = abc.ABCMeta
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def __init__(self, debug=False):
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self.DEBUG = debug
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def __str__(self):
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return "EKF(state={}, covar={})".format(self.state, self.covar)
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# Measurement update
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# Reading should be a SensorReading object with data, covar, and obs_model attributes
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def update(self, reading):
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# Potential improvements:
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# deal with negative covars
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# add noise to really low covars to ensure stability
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# use mahalanobis distance to reject outliers
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# wrap angles after state updates and innovation
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# y = z - H*x
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innovation = reading.data - reading.obs_model * self.state
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if self.DEBUG:
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print "reading:\n",reading.data
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print "innovation:\n",innovation
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# S = H*P*H' + R
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innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
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# K = P*H'*S^-1
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kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
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innovation_covar)
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if self.DEBUG:
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print "gain:\n", kalman_gain
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print "innovation_covar:\n", innovation_covar
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print "innovation: ", innovation
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print "test: ", self.covar * reading.obs_model.T * (
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reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
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0).I
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# x = x + K*y
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self.state += kalman_gain*innovation
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# print "covar", np.diag(self.covar)
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#self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
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# Standard form: P = (I - K*H)*P
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# self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
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# Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
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aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
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self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
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if self.DEBUG:
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print "After update"
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print "state\n", self.state
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print "covar:\n",self.covar
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def update_scalar(self, reading):
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# like update but knowing that measurement is a scalar
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# this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
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# innovation = reading.data - np.matmul(reading.obs_model, self.state)
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# innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
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# kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
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# self.state += np.matmul(kalman_gain, innovation)
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# aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
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# self.covar = np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
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# written without np.matmul
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es = np.einsum
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ABC_T = "ij,jk,lk->il"
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AB_T = "ij,kj->ik"
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AB = "ij,jk->ik"
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innovation = reading.data - es(AB, reading.obs_model, self.state)
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innovation_covar = es(ABC_T, reading.obs_model, self.covar,
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reading.obs_model) + reading.covar
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kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
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self.state += es(AB, kalman_gain, innovation)
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aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
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self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
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es(ABC_T, kalman_gain, reading.covar, kalman_gain)
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# Prediction update
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def predict(self, dt):
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es = np.einsum
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ABC_T = "ij,jk,lk->il"
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AB = "ij,jk->ik"
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# State update
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transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
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# self.state = np.matmul(transfer_fun, self.state)
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# self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
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# x = f(x, u), written in the form x = A(x, u)*x
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self.state = es(AB, transfer_fun, self.state)
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# P = J*P*J' + Q
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self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
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transfer_fun_jacobian) + self.process_noise * dt #!dt
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#! Clip covariance to avoid explosions
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self.covar = np.clip(self.covar,-1e10,1e10)
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@abc.abstractmethod
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def calc_transfer_fun(self, dt):
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"""Return a tuple with the transfer function and transfer function jacobian
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The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
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The transfer function matrix A should satisfy the state-update equation
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x_(k+1) = A * x_k
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The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
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Current implementations calculate A and J as functions of state. Control input
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can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
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and using it during calculation of A and J
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"""
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class FastEKF1D(EKF):
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"""Fast version of EKF for 1D problems with scalar readings."""
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def __init__(self, dt, var_init, Q):
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super(FastEKF1D, self).__init__(False)
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self.state = [0, 0]
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self.covar = [var_init, var_init, 0]
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# Process Noise
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self.dtQ0 = dt * Q[0]
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self.dtQ1 = dt * Q[1]
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def update(self, reading):
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raise NotImplementedError
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def update_scalar(self, reading):
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# TODO(mgraczyk): Delete this for speed.
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# assert np.all(reading.obs_model == [1, 0])
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rcov = reading.covar[0, 0]
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x = self.state
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S = self.covar
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innovation = reading.data - x[0]
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innovation_covar = S[0] + rcov
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k0 = S[0] / innovation_covar
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k1 = S[2] / innovation_covar
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x[0] += k0 * innovation
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x[1] += k1 * innovation
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mk = 1 - k0
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S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
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S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
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S[0] = mk * mk * S[0] + rcov * k0 * k0
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def predict(self, dt):
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# State update
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x = self.state
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x[0] += dt * x[1]
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# P = J*P*J' + Q
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S = self.covar
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S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
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S[2] += dt * S[1]
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S[1] += self.dtQ1
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# Clip covariance to avoid explosions
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S = max(-1e10, min(S, 1e10))
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def calc_transfer_fun(self, dt):
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tf = np.identity(2)
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tf[0, 1] = dt
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tfj = tf
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return tf, tfj
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