[
{
"path": "Allan_Analysis.py",
"content": "import numpy as np\nimport matplotlib.pyplot as plt\nimport math\nimport numpy.matlib\nfrom scipy.optimize import nnls\nimport scipy.io as sio\n\n\n# data was sampled in 100hz\nPts_size = 100\nfs = 100\n\ndata = np.loadtxt(\"./datasets/data.dat\")\ndata = data[:,2:5]*3600\n[N, M] = data.shape\n\nn = np.arange(0, math.floor(math.log(N/2, 2))+1)\nn = 2**n\nmaxN = n[n.size-1]\nendLogInc = math.log(maxN, 10);\nm = np.unique(np.ceil(np.logspace(0, endLogInc, Pts_size))).transpose()\n\nt0 = 1.0/fs\nT = m*t0\n\ntheta = np.zeros([N, M])\ntheta[:, 0] = data[:, 0].cumsum()/fs\ntheta[:, 1] = data[:, 1].cumsum()/fs\ntheta[:, 2] = data[:, 2].cumsum()/fs\nsigma2 = np.zeros([T.size, M])\nfor i in range(0, m.size):\n for k in range(0, int(N-2*m[i])):\n sigma2[i,:] = sigma2[i,:] + (theta[int(k+2*m[i]), :] - 2*theta[int(k+m[i]), :] + theta[k, :])**2\n print(i)\n sigma2[i,:] = sigma2[i,:]/(2*T[i]**2*(N-2*m[i]))\n\nsigma2 = np.load(\"sigma2.dat.npy\")\nT = np.load(\"T.dat.npy\")\n\n\nsigma = np.sqrt(sigma2)\nprint(\"hello\")\n\nplt.loglog(T, sigma2)\nplt.show()\n\nfor j in range(0,2):\n avar = sigma(j)\n P = np.empty((T.size, 5))\n P[:, 0] = 3 / T**2\n P[:, 1] = 1 / T\n P[:, 2] = 2 * np.log(2) / np.pi\n P[:, 3] = T / 3\n P[:, 4] = T**2 / 2\n P /= avar[:, np.newaxis]\n b = np.ones(T.size)\n s = nnls(P, b)[0]\n params = np.sqrt(s)\n\nprint(params)"
},
{
"path": "CMakeLists.txt",
"content": "cmake_minimum_required(VERSION 2.8)\nproject(IMU_Attitude_Estimator)\n\nset(CMAKE_BUILD_TYPE Release)\nset(CMAKE_CXX_FLAGS \"${CMAKE_CXX_FLAGS} -std=c++11 -o3\")\n\n\nset(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)\nset(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)\nlist(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)\n\nfind_package(Eigen3 REQUIRED)\ninclude_directories(EIGEN3_INCLUDE_DIR)\n\ninclude_directories(\"/usr/include/eigen3\")\n\nfind_package(Glog REQUIRED)\ninclude_directories(${GLOG_INCLUDE_DIRS})\n\nfind_package(PythonLibs 2.7)\ninclude_directories(${PYTHON_INCLUDE_DIRS})\n\ninclude_directories(${PROJECT_SOURCE_DIR}/include)\n\n\nadd_library(${PROJECT_NAME} SHARED\n src/Convert.cpp\n src/EKF_Attitude.cpp\n src/ESKF_Attitude.cpp\n src/Mahony_Attitude.cpp)\n\ntarget_link_libraries(${PROJECT_NAME}\n ${GLOG_LIBRARIES}\n ${EIGEN3_LIBS}\n ${PYTHON_LIBRARIES})\n\nadd_executable(Demo demo/Test.cpp)\ntarget_link_libraries(Demo ${PROJECT_NAME})"
},
{
"path": "DataSets.py",
"content": "import numpy as np\nimport scipy.io as sio\n\nload_fn = './datasets/NAV.mat'\nload_Data = sio.loadmat(load_fn)\ndata = load_Data['NAV']\n\nmea = data[:,8:17]\neuler = data[:,29:32]\n\nout = np.hstack((mea, euler))\n\nnp.savetxt(\"data.bin\", out, fmt='%f')\n\nprint out.shape\n\nprint data"
},
{
"path": "LICENSE",
"content": "GNU GENERAL PUBLIC LICENSE\n Version 3, 29 June 2007\n\n Copyright (C) 2007 Free Software Foundation, Inc. [http://fsf.org/]\n Everyone is permitted to copy and distribute verbatim copies\n of this license document, but changing it is not allowed.\n\n Preamble\n\n The GNU General Public License is a free, copyleft license for\nsoftware and other kinds of works.\n\n The licenses for most software and other practical works are designed\nto take away your freedom to share and change the works. By contrast,\nthe GNU General Public License is intended to guarantee your freedom to\nshare and change all versions of a program--to make sure it remains free\nsoftware for all its users. We, the Free Software Foundation, use the\nGNU General Public License for most of our software; it applies also to\nany other work released this way by its authors. You can apply it to\nyour programs, too.\n\n When we speak of free software, we are referring to freedom, not\nprice. 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To \"grant\" such a patent license to a\nparty means to make such an agreement or commitment not to enforce a\npatent against the party.\n\n If you convey a covered work, knowingly relying on a patent license,\nand the Corresponding Source of the work is not available for anyone\nto copy, free of charge and under the terms of this License, through a\npublicly available network server or other readily accessible means,\nthen you must either (1) cause the Corresponding Source to be so\navailable, or (2) arrange to deprive yourself of the benefit of the\npatent license for this particular work, or (3) arrange, in a manner\nconsistent with the requirements of this License, to extend the patent\nlicense to downstream recipients. \"Knowingly relying\" means you have\nactual knowledge that, but for the patent license, your conveying the\ncovered work in a country, or your recipient's use of the covered work\nin a country, would infringe one or more identifiable patents in that\ncountry that you have reason to believe are valid.\n\n If, pursuant to or in connection with a single transaction or\narrangement, you convey, or propagate by procuring conveyance of, a\ncovered work, and grant a patent license to some of the parties\nreceiving the covered work authorizing them to use, propagate, modify\nor convey a specific copy of the covered work, then the patent license\nyou grant is automatically extended to all recipients of the covered\nwork and works based on it.\n\n A patent license is \"discriminatory\" if it does not include within\nthe scope of its coverage, prohibits the exercise of, or is\nconditioned on the non-exercise of one or more of the rights that are\nspecifically granted under this License. You may not convey a covered\nwork if you are a party to an arrangement with a third party that is\nin the business of distributing software, under which you make payment\nto the third party based on the extent of your activity of conveying\nthe work, and under which the third party grants, to any of the\nparties who would receive the covered work from you, a discriminatory\npatent license (a) in connection with copies of the covered work\nconveyed by you (or copies made from those copies), or (b) primarily\nfor and in connection with specific products or compilations that\ncontain the covered work, unless you entered into that arrangement,\nor that patent license was granted, prior to 28 March 2007.\n\n Nothing in this License shall be construed as excluding or limiting\nany implied license or other defenses to infringement that may\notherwise be available to you under applicable patent law.\n\n 12. No Surrender of Others' Freedom.\n\n If conditions are imposed on you (whether by court order, agreement or\notherwise) that contradict the conditions of this License, they do not\nexcuse you from the conditions of this License. If you cannot convey a\ncovered work so as to satisfy simultaneously your obligations under this\nLicense and any other pertinent obligations, then as a consequence you may\nnot convey it at all. For example, if you agree to terms that obligate you\nto collect a royalty for further conveying from those to whom you convey\nthe Program, the only way you could satisfy both those terms and this\nLicense would be to refrain entirely from conveying the Program.\n\n 13. Use with the GNU Affero General Public License.\n\n Notwithstanding any other provision of this License, you have\npermission to link or combine any covered work with a work licensed\nunder version 3 of the GNU Affero General Public License into a single\ncombined work, and to convey the resulting work. The terms of this\nLicense will continue to apply to the part which is the covered work,\nbut the special requirements of the GNU Affero General Public License,\nsection 13, concerning interaction through a network will apply to the\ncombination as such.\n\n 14. Revised Versions of this License.\n\n The Free Software Foundation may publish revised and/or new versions of\nthe GNU General Public License from time to time. Such new versions will\nbe similar in spirit to the present version, but may differ in detail to\naddress new problems or concerns.\n\n Each version is given a distinguishing version number. If the\nProgram specifies that a certain numbered version of the GNU General\nPublic License \"or any later version\" applies to it, you have the\noption of following the terms and conditions either of that numbered\nversion or of any later version published by the Free Software\nFoundation. If the Program does not specify a version number of the\nGNU General Public License, you may choose any version ever published\nby the Free Software Foundation.\n\n If the Program specifies that a proxy can decide which future\nversions of the GNU General Public License can be used, that proxy's\npublic statement of acceptance of a version permanently authorizes you\nto choose that version for the Program.\n\n Later license versions may give you additional or different\npermissions. However, no additional obligations are imposed on any\nauthor or copyright holder as a result of your choosing to follow a\nlater version.\n\n 15. Disclaimer of Warranty.\n\n THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY\nAPPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT\nHOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM \"AS IS\" WITHOUT WARRANTY\nOF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,\nTHE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR\nPURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM\nIS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF\nALL NECESSARY SERVICING, REPAIR OR CORRECTION.\n\n 16. Limitation of Liability.\n\n IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING\nWILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS\nTHE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY\nGENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE\nUSE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF\nDATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD\nPARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),\nEVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF\nSUCH DAMAGES.\n\n 17. Interpretation of Sections 15 and 16.\n\n If the disclaimer of warranty and limitation of liability provided\nabove cannot be given local legal effect according to their terms,\nreviewing courts shall apply local law that most closely approximates\nan absolute waiver of all civil liability in connection with the\nProgram, unless a warranty or assumption of liability accompanies a\ncopy of the Program in return for a fee.\n\n END OF TERMS AND CONDITIONS\n\n How to Apply These Terms to Your New Programs\n\n If you develop a new program, and you want it to be of the greatest\npossible use to the public, the best way to achieve this is to make it\nfree software which everyone can redistribute and change under these terms.\n\n To do so, attach the following notices to the program. It is safest\nto attach them to the start of each source file to most effectively\nstate the exclusion of warranty; and each file should have at least\nthe \"copyright\" line and a pointer to where the full notice is found.\n\n {one line to give the program's name and a brief idea of what it does.}\n Copyright (C) {year} {fullname}\n\n This program is free software: you can redistribute it and/or modify\n it under the terms of the GNU General Public License as published by\n the Free Software Foundation, either version 3 of the License, or\n (at your option) any later version.\n\n This program is distributed in the hope that it will be useful,\n but WITHOUT ANY WARRANTY; without even the implied warranty of\n MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n GNU General Public License for more details.\n\n You should have received a copy of the GNU General Public License\n along with this program. If not, see [http://www.gnu.org/licenses/].\n\nAlso add information on how to contact you by electronic and paper mail.\n\n If the program does terminal interaction, make it output a short\nnotice like this when it starts in an interactive mode:\n\n IMU_Attitude_Estiamtor Copyright (C) 2018 gaochq\n This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.\n This is free software, and you are welcome to redistribute it\n under certain conditions; type `show c' for details.\n\nThe hypothetical commands `show w' and `show c' should show the appropriate\nparts of the General Public License. Of course, your program's commands\nmight be different; for a GUI interface, you would use an \"about box\".\n\n You should also get your employer (if you work as a programmer) or school,\nif any, to sign a \"copyright disclaimer\" for the program, if necessary.\nFor more information on this, and how to apply and follow the GNU GPL, see\n[http://www.gnu.org/licenses/].\n\n The GNU General Public License does not permit incorporating your program\ninto proprietary programs. If your program is a subroutine library, you\nmay consider it more useful to permit linking proprietary applications with\nthe library. If this is what you want to do, use the GNU Lesser General\nPublic License instead of this License. But first, please read\n[http://www.gnu.org/philosophy/why-not-lgpl.html]."
},
{
"path": "README.md",
"content": "# IMU_Attitude_Estimator\n\nThis project is aimed at estimating the attitude of Attitude Heading and Reference System(AHRS). And the project contains three popular attitude estimator algorithms.\n- Mahony's algorithm\n- Extend Kalman Filter(EKF)\n- Error State Kalman Filter(ESKF)\n\n```DataSets.py``` for converting estimator data. \n```Allan_Analysis``` for Allan Variance analysis.\n\n### Refrence\n[1] [Mahony R, Hamel T, Pflimlin J M. Nonlinear complementary filters on the special orthogonal group[J]. IEEE Transactions on automatic control, 2008, 53(5): 1203-1218.](http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4608934) \n[2] [Pixhawk state estimation](https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf) \n[3] [Solà, Joan. Quaternion kinematics for the error-state Kalman filter[J]. 2017.](http://219.216.82.193/cache/4/03/www.iri.upc.edu/bbcd603c764cd75e76df0968d16bc022/kinematics.pdf) \n[4] [Trawny N, Roumeliotis S I. Indirect Kalman Filter for 3D Attitude Estimation[J]. 2005.](http://pdfs.semanticscholar.org/2c8e/95bc331024105cbde6f6918cda8493f263c8.pdf)\n\n### Dependencies\n- Eigen3.2.0\n- glog\n```\nsudo apt-get install libgoogle-glog-dev\n```\n- [matplotlib-cpp](https://github.com/lava/matplotlib-cpp)\n\n### Simple Test\nSimple comparision among three methods. And the params of Mahony filter can be further tuned.\n![](\"Image/All_roll.png\")
![](\"Image/EKF-ESKF-Roll.png\")
\n![](\"Image/EKF-ESKF-Pitch.png\")
![](\"Image/EKF-ESKF.png\")
"
},
{
"path": "cmake_modules/FindEigen3.cmake",
"content": "# - Try to find Eigen3 lib\n#\n# This module supports requiring a minimum version, e.g. you can do\n# find_package(Eigen3 3.1.2)\n# to require version 3.1.2 or newer of Eigen3.\n#\n# Once done this will define\n#\n# EIGEN3_FOUND - system has eigen lib with correct version\n# EIGEN3_INCLUDE_DIR - the eigen include directory\n# EIGEN3_VERSION - eigen version\n\n# Copyright (c) 2006, 2007 Montel Laurent, \n# Copyright (c) 2008, 2009 Gael Guennebaud, \n# Copyright (c) 2009 Benoit Jacob \n# Redistribution and use is allowed according to the terms of the 2-clause BSD license.\n\nif(NOT Eigen3_FIND_VERSION)\n if(NOT Eigen3_FIND_VERSION_MAJOR)\n set(Eigen3_FIND_VERSION_MAJOR 2)\n endif(NOT Eigen3_FIND_VERSION_MAJOR)\n if(NOT Eigen3_FIND_VERSION_MINOR)\n set(Eigen3_FIND_VERSION_MINOR 91)\n endif(NOT Eigen3_FIND_VERSION_MINOR)\n if(NOT Eigen3_FIND_VERSION_PATCH)\n set(Eigen3_FIND_VERSION_PATCH 0)\n endif(NOT Eigen3_FIND_VERSION_PATCH)\n\n set(Eigen3_FIND_VERSION \"${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}\")\nendif(NOT Eigen3_FIND_VERSION)\n\nmacro(_eigen3_check_version)\n file(READ \"${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h\" _eigen3_version_header)\n\n string(REGEX MATCH \"define[ \\t]+EIGEN_WORLD_VERSION[ \\t]+([0-9]+)\" _eigen3_world_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_WORLD_VERSION \"${CMAKE_MATCH_1}\")\n string(REGEX MATCH \"define[ \\t]+EIGEN_MAJOR_VERSION[ \\t]+([0-9]+)\" _eigen3_major_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_MAJOR_VERSION \"${CMAKE_MATCH_1}\")\n string(REGEX MATCH \"define[ \\t]+EIGEN_MINOR_VERSION[ \\t]+([0-9]+)\" _eigen3_minor_version_match \"${_eigen3_version_header}\")\n set(EIGEN3_MINOR_VERSION \"${CMAKE_MATCH_1}\")\n\n set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})\n if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n set(EIGEN3_VERSION_OK FALSE)\n else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n set(EIGEN3_VERSION_OK TRUE)\n endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})\n\n if(NOT EIGEN3_VERSION_OK)\n\n message(STATUS \"Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, \"\n \"but at least version ${Eigen3_FIND_VERSION} is required\")\n endif(NOT EIGEN3_VERSION_OK)\nendmacro(_eigen3_check_version)\n\nif (EIGEN3_INCLUDE_DIR)\n\n # in cache already\n _eigen3_check_version()\n set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})\n\nelse (EIGEN3_INCLUDE_DIR)\n\n # specific additional paths for some OS\n if (WIN32)\n set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} \"C:/Program Files/Eigen/include\" \"C:/Program Files (x86)/Eigen/include\")\n endif(WIN32)\n\n find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library\n PATHS\n ${CMAKE_INSTALL_PREFIX}/include\n ${EIGEN_ADDITIONAL_SEARCH_PATHS}\n ${KDE4_INCLUDE_DIR}\n PATH_SUFFIXES eigen3 eigen\n )\n\n if(EIGEN3_INCLUDE_DIR)\n _eigen3_check_version()\n endif(EIGEN3_INCLUDE_DIR)\n\n include(FindPackageHandleStandardArgs)\n find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)\n\n mark_as_advanced(EIGEN3_INCLUDE_DIR)\n\nendif(EIGEN3_INCLUDE_DIR)\n"
},
{
"path": "cmake_modules/FindGlog.cmake",
"content": "# Ceres Solver - A fast non-linear least squares minimizer\n# Copyright 2015 Google Inc. All rights reserved.\n# http://ceres-solver.org/\n#\n# Redistribution and use in source and binary forms, with or without\n# modification, are permitted provided that the following conditions are met:\n#\n# * Redistributions of source code must retain the above copyright notice,\n# this list of conditions and the following disclaimer.\n# * Redistributions in binary form must reproduce the above copyright notice,\n# this list of conditions and the following disclaimer in the documentation\n# and/or other materials provided with the distribution.\n# * Neither the name of Google Inc. nor the names of its contributors may be\n# used to endorse or promote products derived from this software without\n# specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n#\n# Author: alexs.mac@gmail.com (Alex Stewart)\n#\n\n# FindGlog.cmake - Find Google glog logging library.\n#\n# This module defines the following variables:\n#\n# GLOG_FOUND: TRUE iff glog is found.\n# GLOG_INCLUDE_DIRS: Include directories for glog.\n# GLOG_LIBRARIES: Libraries required to link glog.\n#\n# The following variables control the behaviour of this module:\n#\n# GLOG_INCLUDE_DIR_HINTS: List of additional directories in which to\n# search for glog includes, e.g: /timbuktu/include.\n# GLOG_LIBRARY_DIR_HINTS: List of additional directories in which to\n# search for glog libraries, e.g: /timbuktu/lib.\n#\n# The following variables are also defined by this module, but in line with\n# CMake recommended FindPackage() module style should NOT be referenced directly\n# by callers (use the plural variables detailed above instead). These variables\n# do however affect the behaviour of the module via FIND_[PATH/LIBRARY]() which\n# are NOT re-called (i.e. search for library is not repeated) if these variables\n# are set with valid values _in the CMake cache_. This means that if these\n# variables are set directly in the cache, either by the user in the CMake GUI,\n# or by the user passing -DVAR=VALUE directives to CMake when called (which\n# explicitly defines a cache variable), then they will be used verbatim,\n# bypassing the HINTS variables and other hard-coded search locations.\n#\n# GLOG_INCLUDE_DIR: Include directory for glog, not including the\n# include directory of any dependencies.\n# GLOG_LIBRARY: glog library, not including the libraries of any\n# dependencies.\n\n# Reset CALLERS_CMAKE_FIND_LIBRARY_PREFIXES to its value when\n# FindGlog was invoked.\nmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)\n if (MSVC)\n set(CMAKE_FIND_LIBRARY_PREFIXES \"${CALLERS_CMAKE_FIND_LIBRARY_PREFIXES}\")\n endif (MSVC)\nendmacro(GLOG_RESET_FIND_LIBRARY_PREFIX)\n\n# Called if we failed to find glog or any of it's required dependencies,\n# unsets all public (designed to be used externally) variables and reports\n# error message at priority depending upon [REQUIRED/QUIET/] argument.\nmacro(GLOG_REPORT_NOT_FOUND REASON_MSG)\n unset(GLOG_FOUND)\n unset(GLOG_INCLUDE_DIRS)\n unset(GLOG_LIBRARIES)\n # Make results of search visible in the CMake GUI if glog has not\n # been found so that user does not have to toggle to advanced view.\n mark_as_advanced(CLEAR GLOG_INCLUDE_DIR\n GLOG_LIBRARY)\n\n glog_reset_find_library_prefix()\n\n # Note _FIND_[REQUIRED/QUIETLY] variables defined by FindPackage()\n # use the camelcase library name, not uppercase.\n if (Glog_FIND_QUIETLY)\n message(STATUS \"Failed to find glog - \" ${REASON_MSG} ${ARGN})\n elseif (Glog_FIND_REQUIRED)\n message(FATAL_ERROR \"Failed to find glog - \" ${REASON_MSG} ${ARGN})\n else()\n # Neither QUIETLY nor REQUIRED, use no priority which emits a message\n # but continues configuration and allows generation.\n message(\"-- Failed to find glog - \" ${REASON_MSG} ${ARGN})\n endif ()\nendmacro(GLOG_REPORT_NOT_FOUND)\n\n# Handle possible presence of lib prefix for libraries on MSVC, see\n# also GLOG_RESET_FIND_LIBRARY_PREFIX().\nif (MSVC)\n # Preserve the caller's original values for CMAKE_FIND_LIBRARY_PREFIXES\n # s/t we can set it back before returning.\n set(CALLERS_CMAKE_FIND_LIBRARY_PREFIXES \"${CMAKE_FIND_LIBRARY_PREFIXES}\")\n # The empty string in this list is important, it represents the case when\n # the libraries have no prefix (shared libraries / DLLs).\n set(CMAKE_FIND_LIBRARY_PREFIXES \"lib\" \"\" \"${CMAKE_FIND_LIBRARY_PREFIXES}\")\nendif (MSVC)\n\n# Search user-installed locations first, so that we prefer user installs\n# to system installs where both exist.\nlist(APPEND GLOG_CHECK_INCLUDE_DIRS\n /usr/local/include\n /usr/local/homebrew/include # Mac OS X\n /opt/local/var/macports/software # Mac OS X.\n /opt/local/include\n /usr/include)\n# Windows (for C:/Program Files prefix).\nlist(APPEND GLOG_CHECK_PATH_SUFFIXES\n glog/include\n glog/Include\n Glog/include\n Glog/Include)\n\nlist(APPEND GLOG_CHECK_LIBRARY_DIRS\n /usr/local/lib\n /usr/local/homebrew/lib # Mac OS X.\n /opt/local/lib\n /usr/lib)\n# Windows (for C:/Program Files prefix).\nlist(APPEND GLOG_CHECK_LIBRARY_SUFFIXES\n glog/lib\n glog/Lib\n Glog/lib\n Glog/Lib)\n\n# Search supplied hint directories first if supplied.\nfind_path(GLOG_INCLUDE_DIR\n NAMES glog/logging.h\n PATHS ${GLOG_INCLUDE_DIR_HINTS}\n ${GLOG_CHECK_INCLUDE_DIRS}\n PATH_SUFFIXES ${GLOG_CHECK_PATH_SUFFIXES})\nif (NOT GLOG_INCLUDE_DIR OR\n NOT EXISTS ${GLOG_INCLUDE_DIR})\n glog_report_not_found(\n \"Could not find glog include directory, set GLOG_INCLUDE_DIR \"\n \"to directory containing glog/logging.h\")\nendif (NOT GLOG_INCLUDE_DIR OR\n NOT EXISTS ${GLOG_INCLUDE_DIR})\n\nfind_library(GLOG_LIBRARY NAMES glog\n PATHS ${GLOG_LIBRARY_DIR_HINTS}\n ${GLOG_CHECK_LIBRARY_DIRS}\n PATH_SUFFIXES ${GLOG_CHECK_LIBRARY_SUFFIXES})\nif (NOT GLOG_LIBRARY OR\n NOT EXISTS ${GLOG_LIBRARY})\n glog_report_not_found(\n \"Could not find glog library, set GLOG_LIBRARY \"\n \"to full path to libglog.\")\nendif (NOT GLOG_LIBRARY OR\n NOT EXISTS ${GLOG_LIBRARY})\n\n# Mark internally as found, then verify. GLOG_REPORT_NOT_FOUND() unsets\n# if called.\nset(GLOG_FOUND TRUE)\n\n# Glog does not seem to provide any record of the version in its\n# source tree, thus cannot extract version.\n\n# Catch case when caller has set GLOG_INCLUDE_DIR in the cache / GUI and\n# thus FIND_[PATH/LIBRARY] are not called, but specified locations are\n# invalid, otherwise we would report the library as found.\nif (GLOG_INCLUDE_DIR AND\n NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)\n glog_report_not_found(\n \"Caller defined GLOG_INCLUDE_DIR:\"\n \" ${GLOG_INCLUDE_DIR} does not contain glog/logging.h header.\")\nendif (GLOG_INCLUDE_DIR AND\n NOT EXISTS ${GLOG_INCLUDE_DIR}/glog/logging.h)\n# TODO: This regex for glog library is pretty primitive, we use lowercase\n# for comparison to handle Windows using CamelCase library names, could\n# this check be better?\nstring(TOLOWER \"${GLOG_LIBRARY}\" LOWERCASE_GLOG_LIBRARY)\nif (GLOG_LIBRARY AND\n NOT \"${LOWERCASE_GLOG_LIBRARY}\" MATCHES \".*glog[^/]*\")\n glog_report_not_found(\n \"Caller defined GLOG_LIBRARY: \"\n \"${GLOG_LIBRARY} does not match glog.\")\nendif (GLOG_LIBRARY AND\n NOT \"${LOWERCASE_GLOG_LIBRARY}\" MATCHES \".*glog[^/]*\")\n\n# Set standard CMake FindPackage variables if found.\nif (GLOG_FOUND)\n set(GLOG_INCLUDE_DIRS ${GLOG_INCLUDE_DIR})\n set(GLOG_LIBRARIES ${GLOG_LIBRARY})\nendif (GLOG_FOUND)\n\nglog_reset_find_library_prefix()\n\n# Handle REQUIRED / QUIET optional arguments.\ninclude(FindPackageHandleStandardArgs)\nfind_package_handle_standard_args(Glog DEFAULT_MSG\n GLOG_INCLUDE_DIRS GLOG_LIBRARIES)\n\n# Only mark internal variables as advanced if we found glog, otherwise\n# leave them visible in the standard GUI for the user to set manually.\nif (GLOG_FOUND)\n mark_as_advanced(FORCE GLOG_INCLUDE_DIR\n GLOG_LIBRARY)\nendif (GLOG_FOUND)"
},
{
"path": "demo/Test.cpp",
"content": "#include \r\n#include \r\n#include \"time.h\"\r\n#include \r\n#include \r\n\r\n#include \"Convert.h\"\r\n#include \"EKF_Attitude.h\"\r\n#include \"Mahony_Attitude.h\"\r\n#include \"ESKF_Attitude.h\"\r\n\r\n#include \"matplotlibcpp.h\"\r\n\r\n\r\nusing namespace std;\r\nusing namespace IMU;\r\n\r\nnamespace plt = matplotlibcpp;\r\n\r\nint main(int argc, char **argv)\r\n{\r\n\tEigen::MatrixXd data, measurements, groundtruth;\r\n data =IMU::readFromfile(\"./datasets/NAV2_data.bin\");\r\n if(data.isZero())\r\n return 0;\r\n\r\n const int Rows = data.rows() - 1;\r\n measurements = data.block(0, 0, Rows, 9);\r\n groundtruth = data.block(0, 9, Rows, 3)*180/M_PI;\r\n\r\n\tIMU::EKF_Attitude EKF_AHRS(true, 0.02);\r\n IMU::Mahony_Attitude Mahony(Eigen::Vector2d(1.0, 0), 0.02);\r\n\r\n Eigen::Matrix ESKF_InitVec;\r\n ESKF_InitVec << 1e-5*Eigen::Vector3d::Ones(), 1e-9*Eigen::Vector3d::Ones(),\r\n 1e-3*Eigen::Vector3d::Ones(), 1e-4*Eigen::Vector3d::Ones();\r\n IMU::ESKF_Attitude ESKF_AHRS(ESKF_InitVec, 0.02);\r\n\r\n\tunsigned int i = 0;\r\n\tEigen::MatrixXd Euler(measurements.rows(), 3), Euler1(measurements.rows(), 3), Euler2(measurements.rows(), 3);\r\n\r\n std::vector Index, Roll, Pitch, Yaw, Roll_gt, Pitch_gt, Yaw_gt;\r\n std::vector Roll1, Pitch1, Yaw1, Roll_gt1, Pitch_gt1, Yaw_gt1;\r\n std::vector Roll2, Pitch2, Yaw2, Roll_gt2, Pitch_gt2, Yaw_gt2;\r\n\tTicToc tc;\r\n\tdo\r\n\t{\r\n\t\tEigen::MatrixXd measure;\r\n\t\tEigen::Quaterniond quaternion;\r\n\t\t\r\n\t\tVector_3 Euler_single;\r\n\r\n\t\tquaternion = EKF_AHRS.Run(measurements.row(i).transpose());\r\n Euler.row(i) = Quaternion_to_Euler(quaternion).transpose();\r\n\r\n\r\n quaternion = Mahony.Run(measurements.row(i).transpose());\r\n Euler1.row(i) = Quaternion_to_Euler(quaternion).transpose();\r\n\r\n quaternion = ESKF_AHRS.Run(measurements.row(i).transpose());\r\n Euler2.row(i) = Quaternion_to_Euler(quaternion).transpose();\r\n\r\n\r\n Index.push_back(i*1.0);\r\n Roll.push_back(Euler.row(i)[0]);\r\n Pitch.push_back(Euler.row(i)[1]);\r\n Yaw.push_back(Euler.row(i)[2]);\r\n\r\n\r\n Roll1.push_back(Euler1.row(i)[0]);\r\n Pitch1.push_back(Euler1.row(i)[1]);\r\n Yaw1.push_back(Euler1.row(i)[2]);\r\n\r\n Roll2.push_back(Euler2.row(i)[0]);\r\n Pitch2.push_back(Euler2.row(i)[1]);\r\n Yaw2.push_back(Euler2.row(i)[2]);\r\n\r\n Roll_gt.push_back(groundtruth.row(i)[0]);\r\n Pitch_gt.push_back(groundtruth.row(i)[1]);\r\n Yaw_gt.push_back(groundtruth.row(i)[2]);\r\n\r\n\r\n\t\ti++;\r\n\t} while (i\r\n#include \r\n#include \r\n#include \r\n\r\n#include \r\n#include \r\n\r\n#include \"TypeDefs.h\"\r\n#include \"tic_toc.h\"\r\n\r\nusing namespace std;\r\nnamespace IMU\r\n{\r\nvoid Vect_to_SkewMat(Vector_3 Vector, Matrix_3 &Matrix);\r\nvoid Angular_to_Mat(Vector_3 Vector, Eigen::Matrix &Matrix);\r\n//void Rotation_to_Qaut(Matrix_3 rotation, Eigen::Quaterniond &quat);\r\nVector_4 Quaternion_to_Vect(Eigen::Quaterniond q);\r\nEigen::Quaterniond QuatMult(Eigen::Quaterniond q1, Eigen::Quaterniond q2);\r\nMatrix_3 Quat_to_Matrix(Eigen::Quaterniond q);\r\n\r\n// Eigen IO\r\nEigen::MatrixXd readFromfile(const string file);\r\nbool writeTofile(Eigen::MatrixXd matrix, const string file);\r\n\r\n// Eluer(Rotate vector) to rotation matrix\r\nMatrix_3 Euler_to_RoatMat(Vector_3 Euler);\r\n\r\n// Eluer(Rotate vector) to rotation matrix\r\nEigen::Quaterniond Euler_to_Quaternion(Vector_3 Euler);\r\n\r\n// Quaternion to eulers\r\nVector_3 Quaternion_to_Euler(Eigen::Quaterniond q);\r\n\r\n// Rotation matrix to eulers, the rotation order is X-Y-Z(roll,pitch and yaw)\r\nVector_3 Rotation_to_Euler(Matrix_3 Rotation);\r\n// Rotation matrix to quaternion http://www.cs.ucr.edu/~vbz/resources/quatut.pdf\r\nEigen::Quaterniond Rotation_to_Quater(Matrix_3 Rotation);\r\n\r\n// Indirect Kalman Filter for 3D Attitude Estimation (Roumeliotis)\r\nEigen::Quaterniond BuildUpdateQuat(Eigen::Vector3d DeltaTheta);\r\n\r\n\r\n} //namesapce IMU\r\n\r\n#endif"
},
{
"path": "include/EKF_Attitude.h",
"content": "#ifndef EKF_ATTITUDE_H_\r\n#define EKF_ATTITUDE_H_\r\n\r\n#include \r\n#include \r\n#include \r\n#include \r\n#include \r\n#include \"TypeDefs.h\"\r\n\r\n\r\n#ifdef _WIN32\r\n\t#include \"windows.h\"\r\n#else \r\n\t#include \r\n#endif\r\n\r\nusing namespace std;\r\nnamespace IMU\r\n{\r\n\r\nclass EKF_Attitude\r\n{\r\npublic:\r\n EKF_Attitude(bool approx_prediction, double dt);\r\n\r\n // Modify the params of the filter\r\n void Param_Change(Vector_12 Pro_Nosiecovr, Vector_9 Mea_Nosiecovr);\r\n\r\n // Calculate the transition matrix A\r\n // refer to formula 4.19a\r\n void Cal_TransMatrix();\r\n\r\n /* The priori prediction:\r\n * Xk+1 = F(Xk,0)\r\n * Pk+1 = A*Pk*A' + Qk\r\n */\r\n void Prior_Predict();\r\n\r\n // The posteriori correction\r\n void Post_Correct();\r\n\r\n // Calculate the Euler angular\r\n void Cal_Quaternion();\r\n\r\n // read the sensors\r\n void Read_SensorData(Vector_9 measurement);\r\n\r\n Eigen::Quaterniond Run(Vector_9 measurement);\r\n void Release();\r\n void RequestStop();\r\n void RequestStart();\r\n bool Stop();\r\n bool isStopped();\r\n\r\n\r\n\r\nprivate:\r\n Vector_9 cur_measurement;\r\n bool using_2ndOrder;\r\n Eigen::Matrix Q_noise;\r\n Eigen::Matrix R_noise;\r\n double deltaT;\r\n Eigen::Matrix Alin;\r\n\r\n // Xk+1, the state vector of posteriori correction\r\n vector< Vector_12 > state_X_pro;\r\n\r\n // Xk, the state vector of priori prediction\r\n Vector_12 state_X_par;\r\n\r\n // Pk+1\r\n vector< Eigen::Matrix > CovrMatrix_P_pro;\r\n\r\n // Pk\r\n Eigen::Matrix CovrMatrix_P_par;\r\n vector< Eigen::Quaterniond > quaternion;\r\n\r\n bool mbStopped;\r\n bool mbStopRequested;\r\n std::mutex mMutexStop;\r\n};\r\n\r\n} //namespace IMU\r\n\r\n#endif"
},
{
"path": "include/ESKF_Attitude.h",
"content": "#ifndef ESKF_ATTITUDE_H\r\n#define ESKF_ATTITUDE_H\r\n\r\n#include \r\n#include \r\n#include \r\n#include