EKF_3D_USBLModel.hpp

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/*********************************************************************
 * EKF_3D_USBLModel.cpp
 *
 *  Created on: Feb 25, 2013
 *      Author: Dula Nad
 *
 *  Modified on: Apr 1, 2015
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#ifndef EKF_3DMODEL_HPP_
#define EKF_3DMODEL_HPP_
#include <labust/navigation/SSModel.hpp>

namespace labust
{
  namespace navigation
  {
    class EKF_3D_USBLModel : public SSModel<double>
    {
        typedef SSModel<double> Base;
    public:
      typedef vector input_type;
      typedef vector output_type;

      struct ModelParams
      {
          ModelParams():
                  alpha(1),
                  beta(1),
                  betaa(0){};

          ModelParams(double alpha, double beta, double betaa):
                  alpha(alpha),
                  beta(beta),
                  betaa(betaa){}

          inline double Beta(double val)
          {
                  return beta + betaa*fabs(val);
          }

          double alpha, beta, betaa;
      };

      enum {u=0,v,w,p,q,r,xp,yp,zp,phi,theta,psi,xc,yc,b,buoyancy,roll_restore,pitch_restore,altitude,xb,yb,zb,stateNum};
      enum {X=0,Y,Z,Kroll,M,N,inputSize};
      enum {range=stateNum,bearing,elevation,measSize};

      //const char *VarNames[]  = {"u","v","w","p","q","r","xp","yp","zp","phi","theta","psi","xc","yc","b","buoyancy","roll_restore","pitch_restore","altitude","xb","yb","zb","range","bearing","elevation"};


      EKF_3D_USBLModel();
      ~EKF_3D_USBLModel();

      void step(const input_type& input);
      void estimate_y(output_type& y);
      void initModel();

      const output_type& update(vector& measurements, vector& newMeas);

      void setParameters(const ModelParams& surge,
                  const ModelParams& sway,
                  const ModelParams& heave,
                  const ModelParams& roll,
                  const ModelParams& pitch,
                  const ModelParams& yaw)
      {
          this->surge = surge;
          this->sway = sway;
          this->heave = heave;
          this->roll = roll;
          this->pitch = pitch;
          this->yaw = yaw;
      }

      void calculateXYInovationVariance(const matrix& P, double& xin,double &yin);
      void calculateUVInovationVariance(const matrix& P, double& uin,double &vin);
      double calculateAltInovationVariance(const matrix& P);

      inline void getNEDSpeed(double& xdot, double& ydot)
      {
        xdot = this->xdot;
        ydot = this->ydot;
      }

      inline void useDvlModel(int flag){this->dvlModel = flag;};

    protected:
      void derivativeAW();
       void derivativeHV(int num);
       void derivativeH();
      ModelParams surge,sway,heave,roll,pitch,yaw;
      output_type measurement;
      double xdot,ydot;
      int dvlModel;
      matrix Hnl;
      vector ynl,y;
    };
  }
}

/* EKF_3DMODEL_HPP_ */
#endif