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Fix imu system #36

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Fix imu system #36

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Summary

IMUを用いたシステムの状態推定の計算を修正

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Impact

Test

wheeltecのgazebo環境で動作確認
目視ではほぼ変化なし

@nyxrobotics nyxrobotics force-pushed the feature/fix_imu_sysem branch from f349f63 to 4a2b06f Compare January 9, 2024 10:12
@nyxrobotics nyxrobotics marked this pull request as ready for review January 9, 2024 10:15
jsupratman13
jsupratman13 reviewed Jan 10, 2024
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src/hdl_localization/pose_system.cpp Outdated
Comment on lines 59 to 60
dq = Eigen::AngleAxisf(gyro[0] * dt_, Vector3t::UnitX()) * Eigen::AngleAxisf(gyro[1] * dt_, Vector3t::UnitY()) *
Eigen::AngleAxisf(gyro[2] * dt_, Vector3t::UnitZ());
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あまり詳しくないのですが，unit vectorで回転する式は以下だと思いましたが違いますか？

$$q = cos(\frac{w\Delta t}{2}) + sin(\frac{w\Delta t}{2}) \cdot \vec{u}$$

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@nyxrobotics nyxrobotics Jan 11, 2024 •
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参照記事教えてもらえますか

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上記の式の書き方ちょっとミスっていると思います． 🙇

認識正しければ，上記のコードだと $\theta = w \Delta t$ みたいに角速度を角度変換しているため axis angle -> quaternion変換する式を調べていました．

この２つから参考しました
https://www.euclideanspace.com/maths/geometry/rotations/conversions/angleToQuaternion/index.htm
https://gamedev.stackexchange.com/questions/98011/correct-way-to-integrate-scaled-axis-angular-velocity-into-a-quaternion

@nyxrobotics nyxrobotics marked this pull request as draft January 12, 2024 04:05
@nyxrobotics nyxrobotics marked this pull request as ready for review January 17, 2024 09:03
@nyxrobotics nyxrobotics marked this pull request as draft January 17, 2024 12:32
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色々試しましたが有意差が見られないので一旦後回しにしようと思います

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カルマンフィルタでIMUのシステムの計算が間違っている
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@nyxrobotics @jsupratman13