dwm1000: Use kalman filter for beacon position, not dwm distance

Includes position correction from odometry

diff --git a/scripts/dwm1000.py b/scripts/dwm1000.py
index 06c6cbce970217d54d138d1ccef2b490bde49061..69ce1c09bd493d0cb6cd7e4887fe364c59c07a25 100755 (executable)
--- a/scripts/dwm1000.py
+++ b/scripts/dwm1000.py
@@ -7,10 +7,12 @@ import threading
 import struct
 import rospy
 import tf
-from std_msgs.msg import Float32
+import numpy as np
 from math import *
 from i2c import i2c
 from time import sleep
+from std_msgs.msg import Float32
+from nav_msgs.msg import Odometry
 if VISULAIZE:
        import matplotlib.pyplot as plt
 
@@ -43,16 +45,9 @@ class DW1000(threading.Thread):
                threading.Thread.__init__(self)
                self.setDaemon(1)
                self.dist = 0
-               self.dist_filter = 0
                self.offset = offset
                self.addr = addr
 
-               x_est = 1.0 # Systemzustand
-               P_est = 0.003 # Fehlerkovarianz
-               Q = 10e-4 # Systemrauschen
-               R = 0.05 # Varianz des Messfehlers
-               self.filter = simple_kalman(x_est, P_est, Q, R)
-
                self.pub = rospy.Publisher(name, Float32, queue_size=16)
 
                self.start()
@@ -64,21 +59,63 @@ class DW1000(threading.Thread):
                return ret[0]
 
        def distance(self):
-               return self.dist_filter
+               return self.dist
 
        def run(self):
                while True:
                        self.dist = self.get_value() + self.offset
-                       self.dist_filter = self.filter.run(self.dist)
-                       self.pub.publish(self.dist_filter)
+                       self.pub.publish(self.distance())
                        sleep(0.1)
 
+class Position:
+       def __init__(self):
+               P_est = 0.003 # Fehlerkovarianz
+               Q = 10e-4 # Systemrauschen
+               R = 0.1 # Varianz des Messfehlers
+               self.filter_x = simple_kalman(1.0, P_est, Q, R)
+               self.filter_y = simple_kalman(0.0, P_est, Q, R)
+               self.speed_x = 0
+               self.speed_y = 0
+               self.speed_z = 0
+               self.last_time = rospy.Time.now()
+               rospy.Subscriber("/odom_combined", Odometry, self.odomReceived)
+
+       def odomReceived(self, msg):
+               self.speed_x = msg.twist.twist.linear.x
+               self.speed_y = msg.twist.twist.linear.y
+               self.speed_z = msg.twist.twist.angular.z
+
+       def filter(self, x, y):
+               # Correct estimation with speed
+               current_time = rospy.Time.now()
+               dt = (current_time - self.last_time).to_sec()
+               # Subtract vehicle speed
+               pos = np.array([self.filter_x.x_est, self.filter_y.x_est])
+               # translation
+               pos -= np.array([self.speed_x*dt, self.speed_y*dt])
+               # rotation
+               rot = np.array([[np.cos(self.speed_z*dt), -np.sin(self.speed_z*dt)],
+                               [np.sin(self.speed_z*dt),  np.cos(self.speed_z*dt)]])
+               pos = np.dot(pos, rot)
+               # copy back
+               self.filter_x.x_est = pos[0]
+               self.filter_y.x_est = pos[1]
+
+               # run kalman
+               x = self.filter_x.run(x)
+               y = self.filter_y.run(y)
+
+               self.last_time = current_time
+               return x,y
+
+
 if __name__ == "__main__":
        rospy.init_node('DW1000')
        dwleft  = DW1000("uwb_dist_left",  0xc2, +0.0)
        dwright = DW1000("uwb_dist_right", 0xc0, -0.0)
        dist_l_r = 0.285
        rate = rospy.Rate(10)
+       pos = Position()
        tf_broadcaster = tf.broadcaster.TransformBroadcaster()
 
        while not rospy.is_shutdown() and dwleft.is_alive() and dwright.is_alive():
@@ -96,7 +133,7 @@ if __name__ == "__main__":
                        else:
                                dist_left += off/2
                                dist_right -= off/2
-               print "%.2f %.2f %.2f %.2f %.2f %.2f %s" % (dwleft.dist, dwright.dist, dwleft.dist_filter, dwright.dist_filter, dist_left, dist_right, dir)
+               print "%.2f %.2f %.2f %.2f %s" % (dwleft.distance(), dwright.distance(), dist_left, dist_right, dir)
 
                a_r = (-dist_right**2 + dist_left**2 - dist_l_r**2) / (-2*dist_l_r)
                x = dist_l_r/2 - a_r
@@ -104,8 +141,11 @@ if __name__ == "__main__":
                if t >= 0:
                        y = sqrt(t)
                        print x,y
-                       # Rotated 90 deg
-                       tf_broadcaster.sendTransform((y, -x, 0.0), (0, 0, 0, 1), rospy.Time.now(), "uwb_beacon", "base_footprint")
+                       # Rotate 90 deg
+                       x, y = (y, -x)
+
+                       x, y = pos.filter(x, y)
+                       tf_broadcaster.sendTransform((x, y, 0.0), (0, 0, 0, 1), rospy.Time.now(), "uwb_beacon", "base_footprint")
 
                        if VISULAIZE:
                                circle_left = plt.Circle((-dist_l_r/2, 0), dwleft.distance, color='red', fill=False)