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main.py
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main.py
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# -*- coding: utf-8 -*-
"""
Created on Fri Apr 17 12:52:14 2020
@author: Mocki
E-mail : [email protected]
TO : Art is piece of luxury
"""
import struct
import chkimu
import imu
import calib
import align
import glv
import config as conf
import numpy as np
import matplotlib.pyplot as plt
## check raw data
#ts = 0
#inloc = [0, 30.4042231878 * D2R, 0]
#invel = [0,0,0]
#inpos = [0,0,0]
# imu_data = imu.ImuData(0.005)
# imu_data.load_initstatus(ts, inloc, invel, inpos)
# imu_data.loadf("./data/Static_Data.txt")# Calibration_Data Static_Data
# imu_data.loadbinf("./data/Data1.bin")
# chker = chkimu.ChkData(imu_data)
# chker.plot_epoch("ACC")
# chker.plot_epoch("GYO")
################################################
## Calibration of Accelerometer and Gyroscope ##
################################################
#t0 = imu_data.imu_tim[0]
#intv = imu_data.intv
#caber = calib.Calibration(imu_data)
#fz_,_ = caber.input_cuttime(t0+394.75,t0+398.2,"ACC")
#fz,_ = caber.input_cuttime(t0+510.7,t0+923.4,"ACC")
#fx,_ = caber.input_cuttime(t0+931.6,t0+1216.9,"ACC")
#fx_,_ = caber.input_cuttime(t0+1219.8,t0+1474,"ACC")
#fy_,_ = caber.input_cuttime(t0+1481,t0+1872,"ACC")
#fy,_ = caber.input_cuttime(t0+1879.5,t0+2125.5,"ACC")
#M = caber.acc_calib(fx_,fx,fy_,fy,fz_,fz)
#print("ACC CALIBRATION RESULTS:\n",M)
#lz_,n1 = caber.input_cuttime(t0+435.43,t0+445.43,"GYO")
#lz,n2 = caber.input_cuttime(t0+469.86,t0+479.86,"GYO")
#bgz,beta_sz = caber.gyo_calib((n1+n2)/2*intv,lz[2],lz_[2],90 * D2R)
#lx_,n1 = caber.input_cuttime(t0+1194.51,t0+1204.51,"GYO")
#lx,n2 = caber.input_cuttime(t0+1161.25,t0+1171.25,"GYO")
#bgx,beta_sx = caber.gyo_calib((n1+n2)/2*intv,lx[0],lx_[0],90 * D2R)
#ly_,n1 = caber.input_cuttime(t0+1792.52,t0+1802.52,"GYO")
#ly,n2 = caber.input_cuttime(t0+1842.96,t0+1852.96,"GYO")
#bgy,beta_sy = caber.gyo_calib((n1+n2)/2*intv,ly[1],ly_[1],90 * D2R)
#print("GYO CALIBRATION RESULTS:")
#print("x axis->Const bias[%s],Scale factor bias[%s]" % (bgx,beta_sx))
#print("y axis->Const bias[%s],Scale factor bias[%s]" % (bgy,beta_sy))
#print("z axis->Const bias[%s],Scale factor bias[%s]" % (bgz,beta_sz))
##############################################
## alignment of Accelerometer and Gyroscope ##
##############################################
# aligner = align.Align(imu_data)
# aligner.align_mode(-1)
# chkalg = chkimu.Chkalg(aligner.alg_mat("ALL"))
# #chkalg.plot("ALL")
# print(aligner.alg_mat("ALL"))
####################################
## Pure IMU Solution & validation ##
####################################
def plotData(timdata,data,dtype):
timdata = np.asarray(timdata)
data = np.asarray(data)
# Remove horizontal space between axes
if dtype == "LOC":
fig, axs = plt.subplots(nrows=2, ncols=1, sharex=True)
fig.suptitle('Pure IMU Location Results(Compare with Reference)')
plt.xlabel("Time")
axs[0].set_ylabel("h(m)")
axs[0].plot(timdata, data[:,2], label = "h")
axs[1].set_ylabel("lat/lon(degree)")
axs[1].plot(timdata, data[:,0], label = "lat")
axs[1].plot(timdata, data[:,1], label = "lon")
axs[0].legend(loc = "best")
axs[1].legend(loc = "best")
else:
fig, ax = plt.subplots(nrows=1, ncols=1)
if dtype == "VEL":
fig.suptitle('Pure IMU Velocity Results(Compare with Reference)')
ax.set_ylabel("Vn/Ve/Vd(m/s)")
ax.plot(timdata, data[:,0], label = "Vn")
ax.plot(timdata, data[:,1], label = "Ve")
ax.plot(timdata, data[:,2], label = "Vd")
elif dtype == "POS":
fig.suptitle('Pure IMU Posture Results(Compare with Reference)')
ax.set_ylabel("Phi/Theta/Psi(degree)")
ax.plot(timdata, data[:,0], label = "Phi")
ax.plot(timdata, data[:,1], label = "Theta")
ax.plot(timdata, data[:,2], label = "Psi")
plt.xlabel("Time")
ax.legend(loc = "best")
plt.show()
def fread(fp):
with open(fp) as f:
f.readline()
f.readline()
for line in f:
linedata = line.split()
tim = float(linedata[0])
loc_n = [float(i) for i in linedata[1:4]]
vel_n = [float(i) for i in linedata[4:7]]
euler = [float(i) for i in linedata[7:]]
yield tim, euler, vel_n, loc_n
# ts = 91620.0
# inloc = [23.1373950708 * glv.D2R, 113.3713651222 * glv.D2R, 2.175]
# invel = [0,0,0]
# inpos = [0.0107951084511778 * glv.D2R, -2.14251290749072 * glv.D2R, -75.7498049314083 * glv.D2R]
# imudata = imu.ImuData(0.005)
# imudata.load_initstatus(ts, inloc, invel, inpos)
# imuupd = imu.ImuUpd(imudata)
# imuupd.load_initstatus("./data/Data1.bin")
# # validation
# timeList = []
# dlocList = []
# dposList = []
# dvelList = []
# with open("./data/Data1_PureINS.bin","rb") as f:
# # for tim, euler,vel_n,loc_n in imuupd.updepoch():
# for tim,euler,vel_n,loc_n in fread("./data/pureimu_results.txt"):
# refdata = [] # time(sec), lat(rad), lon(rad), h(m), vn(m/s), ve(m/s), vd(m/s), phi(rad), theta(rad), psi(rad)
# for i in range(10):
# data = f.read(8)
# data_float = struct.unpack("d", data)[0]
# refdata.append(data_float)
# # mloc = np.array([loc_n[0] * glv.R2D, loc_n[1] * glv.R2D, loc_n[2]])
# mloc = np.array(loc_n)
# meuler = np.array(euler) * glv.R2D
# dloc = mloc - np.array(refdata[1:4])
# dvel = vel_n - np.array(refdata[4:7])
# dpos = meuler - np.array(refdata[7:])
# timeList.append(tim)
# dlocList.append(dloc)
# dposList.append(dpos)
# dvelList.append(dvel)
# print("======================")
# print("Porcessing Time : ",tim)
# # print(tim, mloc, vel_n, euler);
# plotData(timeList,dlocList,"LOC")
# plotData(timeList,dposList,"POS")
# plotData(timeList,dvelList,"VEL")
##########################################
## Loose IMU-Gnss Solution & validation ##
##########################################
m_config = conf.Config()
imudata = imu.ImuData(m_config.intv)
imudata.load_initstatus(m_config.start_time, m_config.init_loc, m_config.init_vel, m_config.init_pos)
imuupd = imu.ImuUpd(imudata)
imuupd.load_initstatus("./data/A15_imu.bin")
# validation
# timeList = []
# dlocList = []
# dposList = []
# dvelList = []
m_gyo_bia = []
m_acc_bia = []
with open("./results/m_sol.txt","w") as fw:
for gyo_bia, acc_bia in imuupd.updepoch():
# for tim,euler,vel_n,loc_n in fread("./data/ref.txt"):
# refdata = [] # time(sec), lat(rad), lon(rad), h(m), vn(m/s), ve(m/s), vd(m/s), phi(rad), theta(rad), psi(rad)
# for i in range(10):
# data = f.read(8)
# data_float = struct.unpack("d", data)[0]
# refdata.append(data_float)
# mloc = np.array([loc_n[0] * glv.R2D, loc_n[1] * glv.R2D, loc_n[2]])
tim = imuupd.tim[-1]
mloc = np.array(imuupd.loc[-1])
mloc[:2] *= glv.R2D
mvel = np.array(imuupd.vel[-1])
mpos = np.array(imuupd.pos[-1]) * glv.R2D
mpos[-1] += 360
fw.write("%10.3f %16.10f %16.10f %10.3f %10.3f %10.3f %10.3f %13.8f %13.8f %13.8f\n" % (
tim, *mloc, *mvel, *mpos
))
print("======================")
print("Porcessing Time : ", tim)
m_gyo_bia.append(gyo_bia)
m_acc_bia.append(acc_bia)
plotData(imuupd.tim,imuupd.loc,"LOC")
plotData(imuupd.tim,imuupd.vel,"VEL")
plotData(imuupd.tim,imuupd.pos,"POS")