From f7c465dfa1ddd01289442f7256d42bb4003f45a4 Mon Sep 17 00:00:00 2001
From: Mateusz Tylka <mattyl@st.amu.edu.pl>
Date: Thu, 17 Aug 2023 09:36:40 +0200
Subject: [PATCH] init repo

---
 12_EulerEKF_pitch.png |   Bin 0 -> 23958 bytes
 12_EulerEKF_roll.png  |   Bin 0 -> 23764 bytes
 euler_ekf.py          |   145 +
 raw_data_6d.xls       | 10733 ++++++++++++++++++++++++++++++++++++++++
 4 files changed, 10878 insertions(+)
 create mode 100644 12_EulerEKF_pitch.png
 create mode 100644 12_EulerEKF_roll.png
 create mode 100644 euler_ekf.py
 create mode 100644 raw_data_6d.xls

diff --git a/12_EulerEKF_pitch.png b/12_EulerEKF_pitch.png
new file mode 100644
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diff --git a/euler_ekf.py b/euler_ekf.py
new file mode 100644
index 0000000..b4fb80f
--- /dev/null
+++ b/euler_ekf.py
@@ -0,0 +1,145 @@
+'''
+ Filename: 12_EulerEKF.py
+ Created on: April,10, 2021
+ Author: dhpark
+'''
+import numpy as np
+from numpy.linalg import inv
+import matplotlib.pyplot as plt
+from math import cos, sin, tan, asin, pi
+from scipy import io
+import pandas as pd
+
+def GetData(i, data):
+    x = data[0][i]  # (41500, 1)
+    y = data[1][i]  # (41500, 1)
+    z = data[2][i]  # (41500, 1)
+    return x, y, z
+
+def EulerAccel(ax, ay, az):
+    g = 90000.8 # 9.8
+    print(ax)
+    print(g)
+    theta = asin(ax / g)
+    phi = asin(-ay / (g * cos(theta)))
+    return phi, theta
+
+def sec(theta):
+    return 1/cos(theta)
+
+def Ajacob(xhat, rates, dt):
+    '''
+    :param xhat: State Variables(phi, theta, psi)
+    :param rates: angel speed(p,q,r)
+    :param dt: variable to make discrete form
+    '''
+    A = np.zeros([3,3])
+    phi = xhat[0]
+    theta = xhat[1]
+
+    p,q,r = rates[0], rates[1], rates[2]
+
+    A[0][0] = q * cos(phi)*tan(theta) - r*sin(phi)*tan(theta)
+    A[0][1] = q * sin(phi)*(sec(theta)**2) + r*cos(phi)*(sec(theta)**2)
+    A[0][2] = 0
+
+    A[1][0] = -q * sin(phi) - r * cos(phi)
+    A[1][1] = 0
+    A[1][2] = 0
+
+    A[2][0] = q * cos(phi) * sec(theta) - r * sin(phi) * sec(theta)
+    A[2][1] = q * sin(phi) * sec(theta)*tan(theta) + r*cos(phi)*sec(theta)*tan(theta)
+    A[2][2] = 0
+
+    A = np.eye(3) + A*dt
+
+    return A
+
+def fx(xhat, rates, dt):
+    phi = xhat[0]
+    theta = xhat[1]
+
+    p,q,r = rates[0], rates[1], rates[2]
+
+    xdot = np.zeros([3,1])
+    xdot[0] = p + q * sin(phi) * tan(theta) + r * cos(phi)*tan(theta)
+    xdot[1] = q * cos(phi) - r * sin(phi)
+    xdot[2] = q * sin(phi)*sec(theta) + r * cos(phi) * sec(theta)
+
+    xp = xhat.reshape(-1,1) + xdot*dt # xhat : (3,) --> (3,1)
+    return xp
+
+def EulerEKF(z, rates, dt):
+    global firstRun
+    global Q, H, R
+    global x, P
+    if firstRun:
+        H = np.array([[1,0,0],[0,1,0]])
+        Q = np.array([[0.0001,0,0],[0,0.0001,0],[0,0,0.1]])
+        R = 10 * np.eye(2)
+        x = np.array([0, 0, 0]).transpose()
+        P = 10 * np.eye(3)
+        firstRun = False
+    else:
+        A = Ajacob(x, rates, dt)
+        Xp = fx(x, rates, dt) # Xp : State Variable Prediction
+        Pp = A @ P @ A.T + Q # Error Covariance Prediction
+
+        K = (Pp @ H.T) @ inv(H@Pp@H.T + R) # K : Kalman Gain
+
+        x = Xp + K@(z.reshape(-1,1) - H@Xp) # Update State Variable Estimation
+        P = Pp - K@H@Pp # Update Error Covariance Estimation
+
+    phi   = x[0]
+    theta = x[1]
+    psi   = x[2]
+    return phi, theta, psi
+
+H, Q, R = None, None, None
+x, P = None, None
+firstRun = True
+
+df = pd.read_csv('raw_data_6d.xls', sep='\t')
+
+gyro_data = [list(df['%GyroX'].values), list(df['GyroY'].values), list(df['GyroZ'].values)]
+acce_data = [list(df['AcceX'].values), list(df['AcceY'].values), list(df['AcceZ'].values)]
+
+Nsamples = len(df)
+EulerSaved = np.zeros([Nsamples,3])
+dt = 0.01
+
+for k in range(Nsamples):
+    p, q, r = GetData(k, gyro_data)
+    ax, ay, az = GetData(k, acce_data)
+    phi_a, theta_a = EulerAccel(ax, ay, az)
+
+    phi, theta, psi = EulerEKF(np.array([phi_a, theta_a]).T, [p,q,r], dt)
+    if type(phi) == type(np.array([])):
+        EulerSaved[k] = [phi[0], theta[0], psi[0]]
+    else:
+        EulerSaved[k] = [phi, theta, psi]
+
+
+t = np.arange(0, Nsamples * dt ,dt)
+PhiSaved = EulerSaved[:,0] * 180/pi
+ThetaSaved = EulerSaved[:,1] * 180/pi
+PsiSaved = EulerSaved[:,2] * 180/pi
+
+plt.figure()
+plt.plot(t, PhiSaved)
+plt.xlabel('Time [Sec]')
+plt.ylabel('Roll angle [deg]')
+plt.savefig('12_EulerEKF_roll.png')
+
+plt.figure()
+plt.plot(t, ThetaSaved)
+plt.xlabel('Time [Sec]')
+plt.ylabel('Pitch angle [deg]')
+plt.savefig('12_EulerEKF_pitch.png')
+plt.show()
+'''
+plt.subplot(133)
+plt.plot(t, PsiSaved)
+plt.xlabel('Time [Sec]')
+plt.ylabel('Psi angle [deg]')
+'''
\ No newline at end of file
diff --git a/raw_data_6d.xls b/raw_data_6d.xls
new file mode 100644
index 0000000..e376aa1
--- /dev/null
+++ b/raw_data_6d.xls
@@ -0,0 +1,10733 @@
+%GyroX	GyroY	GyroZ	AcceX	AcceY	AcceZ
+4318	-3317	-4093	-2810	279	3153
+9326	-11600	-10273	-2724	254	3153
+2624	-5996	-4650	-2632	207	3399
+2696	-5649	-4118	-2609	185	3392
+1899	-3019	-3142	-2656	334	3385
+1454	-2420	-1629	-2585	251	3499
+1524	-497	-1418	-2597	190	3458
+1346	-1056	-793	-2575	254	3388
+1007	-2892	-929	-2489	153	3508
+1229	-2770	-233	-2512	174	3530
+1441	-2357	879	-2427	280	3523
+1319	-1145	67	-2417	303	3608
+543	1039	-330	-2440	254	3541
+359	-119	-313	-2456	243	3431
+237	-2401	-376	-2505	281	3464
+19	-1078	-779	-2457	254	3380
+631	-1886	-1342	-2325	201	3682
+740	-473	-865	-2489	281	3366
+1376	-1381	-1991	-2412	222	3476
+1304	-1515	-2534	-2439	179	3427
+1112	-1596	-2725	-2411	149	3509
+641	-1657	-2646	-2388	193	3566
+1102	-2178	-3027	-2436	139	3528
+1291	-3327	-3553	-2288	42	3643
+1052	-3083	-2650	-2340	57	3673
+1411	-2511	-2292	-2404	10	3704
+1688	-500	-1337	-2170	125	3687
+1702	-101	-2210	-2281	67	3680
+1753	1068	-2147	-2391	-1	3602
+1324	1499	-1268	-2434	-57	3682
+1579	2484	-131	-2352	119	3520
+1423	2318	-1024	-2510	98	3515
+2000	2264	-1213	-2519	87	3388
+2045	280	-1425	-2620	116	3442
+2231	-885	-1329	-2580	170	3422
+2929	-433	-307	-2636	149	3350
+3290	-453	1038	-2565	310	3202
+2576	-2230	515	-2615	284	3472
+2866	-640	1351	-2329	480	3305
+1789	1036	-470	-2529	390	3269
+1644	5005	-1733	-2506	257	3294
+701	9071	-2844	-2980	613	2921
+-1758	8326	-804	-3237	505	2895
+-6666	5083	198	-3328	257	2908
+-9028	207	394	-3143	-193	2917
+-4016	-2052	262	-3522	-132	2933
+-3926	-4306	-180	-3068	-54	3147
+-1566	-6484	-1123	-2736	-24	2975
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+208	-9597	-3627	-2495	-50	3284
+440	-4668	-2172	-2346	-102	3379
+2424	-6699	-291	-1891	596	3469
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+10769	-26963	3885	-1873	928	2729
+-1126	-32609	1475	-720	824	1950
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+10322	-32764	-13422	3647	-229	4917
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+-1025	4417	1281	2901	396	3967
+-4490	17513	-1078	2292	-220	2901
+-1969	4829	-1555	2191	-529	2824
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