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183 lines
6.1 KiB
183 lines
6.1 KiB
#!/usr/bin/env python3
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import sys
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from typing import List
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import numpy as np
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import sympy as sp
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from rednose.helpers.ekf_sym import EKF_sym, gen_code
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from selfdrive.locationd.models.constants import ObservationKind
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from selfdrive.locationd.models.loc_kf import parse_pr, parse_prr
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class States():
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ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters
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ECEF_VELOCITY = slice(3, 6)
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CLOCK_BIAS = slice(6, 7) # clock bias in light-meters,
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CLOCK_DRIFT = slice(7, 8) # clock drift in light-meters/s,
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CLOCK_ACCELERATION = slice(8, 9) # clock acceleration in light-meters/s**2
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GLONASS_BIAS = slice(9, 10) # clock drift in light-meters/s,
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GLONASS_FREQ_SLOPE = slice(10, 11) # GLONASS bias in m expressed as bias + freq_num*freq_slope
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class GNSSKalman():
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name = 'gnss'
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x_initial = np.array([-2712700.6008, -4281600.6679, 3859300.1830,
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0, 0, 0,
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0, 0, 0,
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0, 0])
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# state covariance
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P_initial = np.diag([1e16, 1e16, 1e16,
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10**2, 10**2, 10**2,
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1e14, (100)**2, (0.2)**2,
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(10)**2, (1)**2])
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# process noise
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Q = np.diag([0.03**2, 0.03**2, 0.03**2,
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3**2, 3**2, 3**2,
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(.1)**2, (0)**2, (0.005)**2,
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.1**2, (.01)**2])
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maha_test_kinds: List[int] = [] # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS]
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@staticmethod
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def generate_code(generated_dir):
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dim_state = GNSSKalman.x_initial.shape[0]
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name = GNSSKalman.name
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maha_test_kinds = GNSSKalman.maha_test_kinds
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# make functions and jacobians with sympy
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# state variables
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state_sym = sp.MatrixSymbol('state', dim_state, 1)
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state = sp.Matrix(state_sym)
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x, y, z = state[0:3, :]
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v = state[3:6, :]
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vx, vy, vz = v
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cb, cd, ca = state[6:9, :]
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glonass_bias, glonass_freq_slope = state[9:11, :]
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dt = sp.Symbol('dt')
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state_dot = sp.Matrix(np.zeros((dim_state, 1)))
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state_dot[:3, :] = v
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state_dot[6, 0] = cd
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state_dot[7, 0] = ca
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# Basic descretization, 1st order integrator
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# Can be pretty bad if dt is big
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f_sym = state + dt * state_dot
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#
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# Observation functions
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#
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# extra args
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sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1)
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sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1)
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# sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
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# orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
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# expand extra args
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sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym
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sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:]
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# los_x, los_y, los_z = sat_los_sym
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# orb_x, orb_y, orb_z = orb_epos_sym
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h_pseudorange_sym = sp.Matrix([
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sp.sqrt(
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(x - sat_x)**2 +
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(y - sat_y)**2 +
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(z - sat_z)**2
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) + cb
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])
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h_pseudorange_glonass_sym = sp.Matrix([
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sp.sqrt(
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(x - sat_x)**2 +
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(y - sat_y)**2 +
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(z - sat_z)**2
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) + cb + glonass_bias + glonass_freq_slope * glonass_freq
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])
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los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z]))
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los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2)
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h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) +
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los_vector[1] * (sat_vy - vy) +
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los_vector[2] * (sat_vz - vz) +
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cd])
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obs_eqs = [[h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym],
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[h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym],
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[h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym],
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[h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym]]
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gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds)
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def __init__(self, generated_dir):
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self.dim_state = self.x_initial.shape[0]
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# init filter
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self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
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self.dim_state, maha_test_kinds=self.maha_test_kinds)
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self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial)
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@property
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def x(self):
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return self.filter.state()
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@property
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def P(self):
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return self.filter.covs()
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def predict(self, t):
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return self.filter.predict(t)
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def rts_smooth(self, estimates):
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return self.filter.rts_smooth(estimates, norm_quats=False)
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def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
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if covs_diag is not None:
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P = np.diag(covs_diag)
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elif covs is not None:
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P = covs
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else:
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P = self.filter.covs()
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self.filter.init_state(state, P, filter_time)
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def predict_and_observe(self, t, kind, data):
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if len(data) > 0:
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data = np.atleast_2d(data)
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if kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS:
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r = self.predict_and_update_pseudorange(data, t, kind)
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elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS:
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r = self.predict_and_update_pseudorange_rate(data, t, kind)
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return r
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def predict_and_update_pseudorange(self, meas, t, kind):
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R = np.zeros((len(meas), 1, 1))
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sat_pos_freq = np.zeros((len(meas), 4))
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z = np.zeros((len(meas), 1))
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for i, m in enumerate(meas):
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z_i, R_i, sat_pos_freq_i = parse_pr(m)
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sat_pos_freq[i, :] = sat_pos_freq_i
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z[i, :] = z_i
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R[i, :, :] = R_i
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return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq)
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def predict_and_update_pseudorange_rate(self, meas, t, kind):
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R = np.zeros((len(meas), 1, 1))
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z = np.zeros((len(meas), 1))
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sat_pos_vel = np.zeros((len(meas), 6))
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for i, m in enumerate(meas):
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z_i, R_i, sat_pos_vel_i = parse_prr(m)
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sat_pos_vel[i] = sat_pos_vel_i
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R[i, :, :] = R_i
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z[i, :] = z_i
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return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel)
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if __name__ == "__main__":
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generated_dir = sys.argv[2]
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GNSSKalman.generate_code(generated_dir)
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