HoverThrustEstimator: Add convergence tests

With noisy accel and thrust in hover, climb and descent conditions.

Author: bresch

src/lib/hover_thrust_estimator/CMakeLists.txt

@@ -35,3 +35,5 @@ px4_add_library(HoverThrustEstimator
 	hover_thrust_estimator.cpp
 	zero_order_hover_thrust_ekf.cpp
 )
+
+px4_add_unit_gtest(SRC zero_order_hover_thrust_ekf_test.cpp LINKLIBS HoverThrustEstimator)

src/lib/hover_thrust_estimator/zero_order_hover_thrust_ekf_test.cpp

@@ -0,0 +1,172 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Test code for the Zero Order Hover Thrust Estimator
+ * Run this test only using make tests TESTFILTER=zero_order_hover_thrust_ekf
+ */
+
+#include <gtest/gtest.h>
+#include <matrix/matrix/math.hpp>
+#include <random>
+
+#include "zero_order_hover_thrust_ekf.hpp"
+
+using namespace matrix;
+
+class ZeroOrderHoverThrustEkfTest : public ::testing::Test
+{
+public:
+	float computeAccelFromThrustAndHoverThrust(float thrust, float hover_thrust);
+	ZeroOrderHoverThrustEkf::status runEkf(float accel, float thrust, float time, float accel_noise = 0.f,
+					       float thr_noise = 0.f);
+
+	std::normal_distribution<float> standard_normal_distribution_;
+	std::default_random_engine random_generator_; // Pseudo-random generator with constant seed
+
+private:
+	ZeroOrderHoverThrustEkf _ekf{};
+	static constexpr float _dt = 0.02f;
+};
+
+float ZeroOrderHoverThrustEkfTest::computeAccelFromThrustAndHoverThrust(float thrust, float hover_thrust)
+{
+	return CONSTANTS_ONE_G * thrust / hover_thrust - CONSTANTS_ONE_G;
+}
+
+ZeroOrderHoverThrustEkf::status ZeroOrderHoverThrustEkfTest::runEkf(float accel, float thrust, float time,
+		float accel_noise, float thr_noise)
+{
+	ZeroOrderHoverThrustEkf::status status{};
+
+	for (float t = 0.f; t <= time; t += _dt) {
+		_ekf.predict(_dt);
+		float noisy_accel =  accel + accel_noise * standard_normal_distribution_(random_generator_);
+		float noisy_thrust =  thrust + thr_noise * standard_normal_distribution_(random_generator_);
+		_ekf.fuseAccZ(noisy_accel, noisy_thrust, status);
+	}
+
+	return status;
+}
+
+TEST_F(ZeroOrderHoverThrustEkfTest, testStaticCase)
+{
+	// GIVEN: a vehicle at hover, (the estimator starting at the true value)
+	const float thrust = 0.5f;
+	const float hover_thrust_true = 0.5f;
+	const float accel_meas = 0.f;
+
+	// WHEN: we input noiseless data and run the filter
+	ZeroOrderHoverThrustEkf::status status = runEkf(accel_meas, thrust, 1.f);
+
+	// THEN: The estimate should not move and its variance decrease quickly
+	EXPECT_NEAR(status.hover_thrust, hover_thrust_true, 1e-4f);
+	EXPECT_NEAR(status.hover_thrust_var, 0.f, 1e-3f);
+	EXPECT_NEAR(status.accel_noise_var, 0.f, 1.f); // The noise learning is slow and takes more than 1s to go to zero
+}
+
+TEST_F(ZeroOrderHoverThrustEkfTest, testStaticConvergence)
+{
+	// GIVEN: a vehicle at hover, but the estimator is starting at hover_thrust = 0.5
+	const float thrust = 0.72f;
+	const float hover_thrust_true = 0.72f;
+	const float accel_meas = computeAccelFromThrustAndHoverThrust(thrust, hover_thrust_true);
+
+	// WHEN: we input noiseless data and run the filter
+	ZeroOrderHoverThrustEkf::status status = runEkf(accel_meas, thrust, 2.f);
+
+	// THEN: the state should converge to the true value and its variance decrease
+	EXPECT_NEAR(status.hover_thrust, hover_thrust_true, 1e-2f);
+	EXPECT_NEAR(status.hover_thrust_var, 0.f, 1e-3f);
+	EXPECT_NEAR(status.accel_noise_var, 0.f, 1.f); // The noise learning is slow and takes more than 1s to go to zero
+}
+
+TEST_F(ZeroOrderHoverThrustEkfTest, testStaticConvergenceWithNoise)
+{
+	// GIVEN: a vehicle at hover, the estimator starts with the wrong estimate and the measurements are noisy
+	const float sigma_noise = 3.f;
+	const float noise_var = sigma_noise * sigma_noise;
+	const float thrust = 0.72f;
+	const float hover_thrust_true = 0.72f;
+	const float accel_meas = computeAccelFromThrustAndHoverThrust(thrust, hover_thrust_true);
+	const float t_sim = 10.f;
+
+	// WHEN: we input noisy accel data and run the filter
+	ZeroOrderHoverThrustEkf::status status = runEkf(accel_meas, thrust, t_sim, sigma_noise);
+
+	// THEN: the estimate should converge and the accel noise variance should be close to the true noise value
+	EXPECT_NEAR(status.hover_thrust, hover_thrust_true, 5e-2f);
+	EXPECT_NEAR(status.hover_thrust_var, 0.f, 1e-3f);
+	EXPECT_NEAR(status.accel_noise_var, noise_var, 0.3f * noise_var);
+}
+
+TEST_F(ZeroOrderHoverThrustEkfTest, testLargeAccelNoiseAndBias)
+{
+	// GIVEN: a vehicle descending, the estimator starts with the wrong estimate, the measurements are really noisy
+	const float sigma_noise = 7.f;
+	const float noise_var = sigma_noise * sigma_noise;
+	const float thrust = 0.4f; // Below hover thrust
+	const float hover_thrust_true = 0.72f;
+	const float accel_meas = computeAccelFromThrustAndHoverThrust(thrust, hover_thrust_true);
+	const float t_sim = 15.f;
+
+	// WHEN: we input noisy accel data and run the filter
+	ZeroOrderHoverThrustEkf::status status = runEkf(accel_meas, thrust, t_sim, sigma_noise);
+
+	// THEN: the estimate should converge and the accel noise variance should be close to the true noise value
+	EXPECT_NEAR(status.hover_thrust, hover_thrust_true, 5e-2);
+	EXPECT_NEAR(status.hover_thrust_var, 0.f, 1e-3f);
+	EXPECT_NEAR(status.accel_noise_var, noise_var, 0.2f * noise_var);
+}
+
+TEST_F(ZeroOrderHoverThrustEkfTest, testThrustAndAccelNoise)
+{
+	// GIVEN: a vehicle climbing, the estimator starts with the wrong estimate, the measurements
+	// and the input thrust are noisy
+	const float accel_noise = 2.f;
+	const float accel_var = accel_noise * accel_noise;
+	const float thr_noise = 0.1f;
+	const float thrust = 0.72f; // Above hover thrust
+	const float hover_thrust_true = 0.6f;
+	const float accel_meas = computeAccelFromThrustAndHoverThrust(thrust, hover_thrust_true);
+	const float t_sim = 15.f;
+
+	// WHEN: we input noisy accel and thrust data, and run the filter
+	ZeroOrderHoverThrustEkf::status status = runEkf(accel_meas, thrust, t_sim, accel_noise, thr_noise);
+
+	// THEN: the estimate should converge and the accel noise variance should be close to the true noise value
+	EXPECT_NEAR(status.hover_thrust, hover_thrust_true, 5e-2f);
+	EXPECT_NEAR(status.hover_thrust_var, 0.f, 1e-3f);
+	// Because of the nonlinear measurment model and the thust noise, the accel noise estimation is a bit worse
+	EXPECT_NEAR(status.accel_noise_var, accel_var, 0.5f * accel_var);
+}