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robot_localization position exploding with linear_accel

asked 2022-06-30 21:10:27 -0500

MrOCW gravatar image

Hi, I am testing my parameters with just 1 IMU,

ekf_filter_node_odom:
  ros__parameters:

    use_sim_time: false

    frequency: 30.0
    sensor_timeout: 0.1
    two_d_mode: false
    transform_time_offset: 0.0
    transform_timeout: 0.0
    print_diagnostics: false
    debug: false

    map_frame: map
    odom_frame: odom
    base_link_frame: base_link
    world_frame: odom
    imu0: /imu/data
    imu0_config: [false, false, false,
                true, true, true,
                false, false, false,
                false, false, false,
                true, true, true]
    imu0_nodelay: false
    imu0_differential: false
    imu0_relative: false
    imu0_queue_size: 10
    imu0_remove_gravitational_acceleration: false
use_control: false
process_noise_covariance: [0.1,   0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.1,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.1,   0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.3,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.3,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.01,   0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.5,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.5,     0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.1,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.3,    0.0,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.3,    0.0,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.3,    0.0,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.3,    0.0,    0.0,
                          0.0,    0.0,    0.0,    0.0,    0.0,    0.0,    0.0,     0.0,     0.0,    0.0,    0.0,    0.0,    0.0,    0.3,    0.0,
                          0.0,    0.0,    0.0,    0.0 ...
(more)
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1 Answer

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answered 2022-07-28 09:07:33 -0500

Tom Moore gravatar image

updated 2022-07-28 09:08:46 -0500

Yes, this would be expected behavior.

You are asking the filter to estimate your position through double-integration of linear acceleration data (acceleration -> velocity -> position). If there's even a small bias in the acceleration data (and I see your acceleration has non-zero values in X and Y), the velocity estimate will grow without bound, which will make your position estimate take off. Similarly, the covariance for both linear velocity and position will also explode, which will cause huge instability in the filter.

TL;DR, you need a velocity or position reference.

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Asked: 2022-06-30 21:10:27 -0500

Seen: 29 times

Last updated: Jul 28