mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-02-22 00:03:52 +08:00
534bf697ee
* add accel bias to filter for offline calculation * bugfix acc bias in live_kf * add no_accel obsertvation * increase initial certainty of acc-bias and reduce PN * increase initial certainty of acc-bias and reduce PN * increase accel bias PN * increase obs noise for no_accel observation * style fixes * update refs
83 lines
1.8 KiB
Python
83 lines
1.8 KiB
Python
import os
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GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated'))
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class ObservationKind:
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UNKNOWN = 0
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NO_OBSERVATION = 1
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GPS_NED = 2
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ODOMETRIC_SPEED = 3
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PHONE_GYRO = 4
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GPS_VEL = 5
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PSEUDORANGE_GPS = 6
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PSEUDORANGE_RATE_GPS = 7
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SPEED = 8
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NO_ROT = 9
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PHONE_ACCEL = 10
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ORB_POINT = 11
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ECEF_POS = 12
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CAMERA_ODO_TRANSLATION = 13
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CAMERA_ODO_ROTATION = 14
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ORB_FEATURES = 15
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MSCKF_TEST = 16
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FEATURE_TRACK_TEST = 17
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LANE_PT = 18
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IMU_FRAME = 19
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PSEUDORANGE_GLONASS = 20
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PSEUDORANGE_RATE_GLONASS = 21
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PSEUDORANGE = 22
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PSEUDORANGE_RATE = 23
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ECEF_VEL = 31
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ECEF_ORIENTATION_FROM_GPS = 32
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NO_ACCEL = 33
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ROAD_FRAME_XY_SPEED = 24 # (x, y) [m/s]
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ROAD_FRAME_YAW_RATE = 25 # [rad/s]
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STEER_ANGLE = 26 # [rad]
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ANGLE_OFFSET_FAST = 27 # [rad]
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STIFFNESS = 28 # [-]
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STEER_RATIO = 29 # [-]
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ROAD_FRAME_X_SPEED = 30 # (x) [m/s]
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names = [
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'Unknown',
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'No observation',
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'GPS NED',
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'Odometric speed',
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'Phone gyro',
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'GPS velocity',
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'GPS pseudorange',
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'GPS pseudorange rate',
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'Speed',
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'No rotation',
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'Phone acceleration',
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'ORB point',
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'ECEF pos',
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'camera odometric translation',
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'camera odometric rotation',
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'ORB features',
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'MSCKF test',
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'Feature track test',
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'Lane ecef point',
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'imu frame eulers',
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'GLONASS pseudorange',
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'GLONASS pseudorange rate',
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'Road Frame x,y speed',
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'Road Frame yaw rate',
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'Steer Angle',
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'Fast Angle Offset',
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'Stiffness',
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'Steer Ratio',
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]
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@classmethod
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def to_string(cls, kind):
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return cls.names[kind]
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SAT_OBS = [ObservationKind.PSEUDORANGE_GPS,
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ObservationKind.PSEUDORANGE_RATE_GPS,
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ObservationKind.PSEUDORANGE_GLONASS,
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ObservationKind.PSEUDORANGE_RATE_GLONASS]
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