{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "# Tutorial 10: Multiplicative Extended Kalman Filter (MEKF)\n", "\n", "This tutorial demonstrates the **Multiplicative Extended Kalman Filter (MEKF)** for spacecraft attitude estimation.\n", "\n", "Unlike position vectors, quaternions live on a hypersphere ($S^3$) and have unit-norm constraints. Adding states linearly breaks this norm. MEKF solves this by using a **multiplicative error state** representation.\n", "\n", "---" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## 1. Theory Prerequisite: MEKF Formulation\n", "\n", "We represent the true quaternion $q$ as the multiplication of an estimated quaternion $\\hat{q}$ and an error quaternion $\\delta q$:\n", "\n", "$$q = \\hat{q} \\otimes \\delta q$$\n", "\n", "For small errors, the error quaternion is approximated by an attitude error vector $\\delta \\vec{\\theta} \\in \\mathbb{R}^3$:\n", "\n", "$$\\delta q_{approx} \\begin{bmatrix} \\frac{1}{2} \\delta \\vec{\\theta} \\\\ 1 \\end{bmatrix}$$\n", "\n", "### State and Error State\n", "- **Global State** ($7\\times1$): $x = [q^T, \\vec{\\beta}^T]^T$ (Quaternion & Gyro Bias)\n", "- **Error State** ($6\\times1$): $\\Delta x = [\\delta \\vec{\\theta}^T, \\delta \\vec{\\beta}^T]^T$\n", "\n", "### Predict (Kinematics Integration)\n", "$$\\dot{\\hat{q}} = \\frac{1}{2} \\hat{q} \\otimes \\begin{bmatrix} \\vec{\\omega} \\\\ 0 \\end{bmatrix}, \\quad \\vec{\\omega} = \\vec{\\omega}_{meas} - \\hat{\\vec{\\beta}}$$\n", "\n", "### Update\n", "Given a reference vector in inertial frame $\\vec{v}_{I}$ and its body measurement $\\vec{v}_{B}$:\n", "$$\\hat{\\vec{v}}_{B} = R(\\hat{q})^T \\vec{v}_{I}$$\n", "The innovation is $y = \\vec{v}_{B} - \\hat{\\vec{v}}_{B}$.\n", "The Sensitivity Matrix is:\n", "$$H = [ [\\hat{\\vec{v}}_{B}\\times] \\quad 0_{3\\times3} ]$$" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Imports successful.\n" ] } ], "source": [ "import numpy as np\n", "import matplotlib.pyplot as plt\n", "from opengnc.kalman_filters.mekf import MEKF\n", "from opengnc.utils.quat_utils import axis_angle_to_quat, quat_normalize, quat_mult, quat_rot, quat_conj\n", "from opengnc.sensors.sun_sensor import SunSensor # Standard vector sensor equivalent\n", "\n", "np.random.seed(42)\n", "print(\"Imports successful.\")" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 1.1 Simulating Attitude Dynamics and Sensors\n", "We simulate a spacecraft rotating at a constant rate but measured with a GYRO that has **Bias** and **Noise**, and a vector sensor." ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "MEKF run complete.\n" ] } ], "source": [ "dt = 0.1 # 10 Hz rate\n", "steps = 200\n", "\n", "omega_true = np.array([0.05, -0.02, 0.1]) # True constant body rate [rad/s]\n", "bias_true = np.array([0.01, -0.01, 0.015]) # Gyro Bias\n", "\n", "z_ref_inertial = np.array([1.0, 0.0, 0.0]) # Inertial reference vector (e.g., Sun or Magnetic field)\n", "\n", "# Initialize MEKF with zero bias and identity quaternion\n", "mekf = MEKF(q_init=np.array([0, 0, 0, 1.0]), beta_init=np.zeros(3))\n", "mekf.P = np.eye(6) * 0.1\n", "mekf.Q = np.eye(6) * 0.0001 # Process noise\n", "mekf.R = np.eye(3) * 0.01 # Measure noise\n", "\n", "q_true = np.array([0, 0, 0, 1.0])\n", "history_q_true = []\n", "history_q_est = []\n", "history_bias_true = []\n", "history_bias_est = []\n", "history_cov = []\n", "history_err_theta = []\n", "\n", "for k in range(steps):\n", " # 1. Physics: Update true attitude\n", " dq = axis_angle_to_quat(omega_true * dt)\n", " q_true = quat_normalize(quat_mult(q_true, dq))\n", " \n", " # 2. Sensor: Gyro Rate Measurement (Add bias + noise)\n", " gyro_noise = np.random.normal(0, 0.001, 3)\n", " omega_meas = omega_true + bias_true + gyro_noise\n", " \n", " # 3. Sensor: Vector Measurement (e.g., Star Tracker/Sun Sensor)\n", " z_body_true = quat_rot(quat_conj(q_true), z_ref_inertial)\n", " meas_noise = np.random.normal(0, 0.01, 3)\n", " z_body_meas = quat_normalize(z_body_true + meas_noise)\n", " \n", " # 4. MEKF Cycle\n", " mekf.predict(omega_meas, dt)\n", " mekf.update(z_body_meas, z_ref_inertial)\n", " \n", " # Calculate small angle error for plotting\n", " # q_err = q_true * q_est_conj\n", " q_err = quat_mult(q_true, quat_conj(mekf.q))\n", " theta_err = 2 * q_err[0:3] # Approximate angle error\n", " \n", " # Save History\n", " history_q_true.append(q_true.copy())\n", " history_q_est.append(mekf.q.copy())\n", " history_bias_true.append(bias_true.copy())\n", " history_bias_est.append(mekf.beta.copy())\n", " history_err_theta.append(theta_err)\n", " history_cov.append(mekf.P.diagonal().copy())\n", "\n", "history_q_true = np.array(history_q_true)\n", "history_q_est = np.array(history_q_est)\n", "history_bias_true = np.array(history_bias_true)\n", "history_bias_est = np.array(history_bias_est)\n", "history_err_theta = np.array(history_err_theta)\n", "history_cov = np.array(history_cov)\n", "\n", "print(\"MEKF run complete.\")" ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [ { "data": { "image/png": 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "time = np.arange(steps) * dt\n", "\n", "plt.figure(figsize=(12, 6))\n", "plt.subplot(3, 1, 1)\n", "plt.plot(time, history_err_theta[:, 0], 'r', label='Error $\\theta_x$')\n", "plt.fill_between(time, -3*np.sqrt(history_cov[:,0]), 3*np.sqrt(history_cov[:,0]), color='red', alpha=0.1, label='$3\\sigma$ Bound')\n", "plt.ylabel('Angle Error [rad]')\n", "plt.legend()\n", "plt.grid(True)\n", "\n", "plt.subplot(3, 1, 2)\n", "plt.plot(time, history_err_theta[:, 1], 'g', label='Error $\\theta_y$')\n", "plt.fill_between(time, -3*np.sqrt(history_cov[:,1]), 3*np.sqrt(history_cov[:,1]), color='green', alpha=0.1)\n", "plt.ylabel('Angle Error [rad]')\n", "plt.legend()\n", "plt.grid(True)\n", "\n", "plt.subplot(3, 1, 3)\n", "plt.plot(time, history_err_theta[:, 2], 'b', label='Error $\\theta_z$')\n", "plt.fill_between(time, -3*np.sqrt(history_cov[:,2]), 3*np.sqrt(history_cov[:,2]), color='blue', alpha=0.1)\n", "plt.xlabel('Time [s]')\n", "plt.ylabel('Angle Error [rad]')\n", "plt.legend()\n", "plt.grid(True)\n", "\n", "plt.tight_layout()\n", "plt.show()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### 1.2 Gyro Bias Estimation\n", "Notice how the estimated bias converges to the true bias values." ] }, { "cell_type": "code", "execution_count": 4, "metadata": {}, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.figure(figsize=(10, 5))\n", "plt.plot(time, history_bias_est[:, 0], 'r-', label='Est Bias X')\n", "plt.plot(time, history_bias_est[:, 1], 'g-', label='Est Bias Y')\n", "plt.plot(time, history_bias_est[:, 2], 'b-', label='Est Bias Z')\n", "plt.axhline(y=bias_true[0], color='r', linestyle='--', label='True Bias X')\n", "plt.axhline(y=bias_true[1], color='g', linestyle='--', label='True Bias Y')\n", "plt.axhline(y=bias_true[2], color='b', linestyle='--', label='True Bias Z')\n", "plt.title('Gyro Bias Convergence')\n", "plt.xlabel('Time [s]')\n", "plt.ylabel('Bias [rad/s]')\n", "plt.legend()\n", "plt.grid(True)\n", "plt.show()" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.10.11" } }, "nbformat": 4, "nbformat_minor": 4 }