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zxj=oKgaU{z(SbqV(rtN!u82h`Sxt?MTnK+L1>Owvw8eyo*^%%Y2#5GLJAI!~EH-6J za&3gvcv4^w=^fHeXvgE)^VuYSoSiLa+!+1;-(-e9yqmCKVZi)_i{}T=R)VR*wMV5M LMn>Z&+bjJK1kRM# diff --git a/docs/SRS/SRS.tex b/docs/SRS/SRS.tex index 0b41c0d..07ba46f 100644 --- a/docs/SRS/SRS.tex +++ b/docs/SRS/SRS.tex @@ -135,7 +135,7 @@ \section*{Revision History} \begin{tabularx}{\textwidth}{p{3cm}p{2cm}X} \toprule {\bf Date} & {\bf Version} & {\bf Notes}\\ \midrule 2024/02/02 & 1.0 & Initial Release.\\ -2024/04/01 & 2.0 & Addressed reviewer comments.\\ +2024/04/03 & 2.0 & Addressed reviewer comments.\\ \bottomrule \end{tabularx} @@ -196,13 +196,13 @@ \subsection{Table of Symbols} \midrule % $v$ & \si[per-mode=symbol] {\meter\per\second} & linear velocity\\ $a$ & \si[per-mode=symbol] {\meter\per\second\squared} & linear acceleration\\ -$m$ & \si[per-mode=symbol] {\tesla} & magnetic field strength\\ +$m$ & \si[per-mode=symbol] {\micro \tesla} & magnetic field strength\\ $\theta$ & \si[per-mode=symbol] {\radian} & angular position \\ $\omega$ & \si[per-mode=symbol] {\radian\per\second} & angular velocity\\ $\Delta t$ & \si[per-mode=symbol] {\milli\second} & sampling time\\ $\mathbf{g}_0$ & \si[per-mode=symbol] {\meter\per\second\squared} & gravitational acceleration vector\\ -${}^E\mathbf{b}$ & \si{\nano\tesla} & local magnetic field vector\\ +${}^E\mathbf{b}$ & \si{\micro\tesla} & local magnetic field vector\\ $\gamma$ & - & Complimentary filter parameter\\ ${}^S_E\mathbf{q}$ & \si{\radian} & Attitude (orientation) of the sensor-frame relative to the earth-frame\\ @@ -1343,6 +1343,64 @@ \subsubsection{Instance Models} \label{sec_instance} \end{tabular} \end{minipage}\\ +~\newline +%Instance Model 7 +\begin{minipage}{\textwidth} +\renewcommand*{\arraystretch}{1.5} +\begin{tabular}{| p{\colAwidth} | p{\colBwidth}|} +\hline +\rowcolor[gray]{0.9} +Number& IM\refstepcounter{instnum}\theinstnum \label{i:acc_to_quat}\\ +\hline +Label& \bf Initial orientation from Accelerometer\\ +\hline +Input& $\prescript{S}{}{\mathbf{a}}$\\ +& The sensor measurements are from the current time step, and the quaternion estimate is from the +previous time step. \\ +\hline +Output & $\theta = \arctan(\cfrac{a_y}{a_z})$\\ +& $\phi = \arctan\left(\cfrac{-a_x}{\sqrt{a_y^2 + a_z^2}}\right)$ \\ +& $\psi = 0$\\ +\hline +Description& Using accelerometer data, roll and pitch Euler angles can be computed. Yaw cannot be +computed and is set to 0. \\ +\hline +Sources & \url{https://ahrs.readthedocs.io/en/latest/filters/tilt.html} \\ +\hline +Ref.\ By & \rref{r:input2}.\\ +\hline +\end{tabular} +\end{minipage}\\ + +~\newline +%Instance Model 6 +\begin{minipage}{\textwidth} + \renewcommand*{\arraystretch}{1.5} + \begin{tabular}{| p{\colAwidth} | p{\colBwidth}|} + \hline + \rowcolor[gray]{0.9} + Number& IM\refstepcounter{instnum}\theinstnum \label{i:mag_to_quat}\\ + \hline + Label& \bf Initial orientation from Accelerometer, and Magnetometer\\ + \hline + Input& $\prescript{S}{}{\mathbf{a}}, \prescript{S}{}{\mathbf{m}}$\\ + & Sensor measurements.\\ + \hline + Output & $\theta = \arctan(\cfrac{a_y}{a_z})$\\ + & $\phi = \arctan\left(\cfrac{-a_x}{\sqrt{a_y^2 + a_z^2}}\right)$ \\ + & $\psi = \mathrm{arctan2}\big(m_z\sin\phi - m_y\cos\phi, \; m_x\cos\theta + + \sin\theta(m_y\sin\phi + m_z\cos\phi)\big) $ \\ + \hline + Description & Using accelerometer and magnetometer data, an initial orientation in Euler angles + can be computed. \\ + \hline + Sources & \url{https://ahrs.readthedocs.io/en/latest/filters/tilt.html} \\ + \hline + Ref.\ By & \rref{r:input2}.\\ + \hline + \end{tabular} + \end{minipage}\\ + % \subsubsection*{Derivation of ...} \plt{The derivation shows how the IM is derived from the TMs/GDs. In cases where the derivation @@ -1378,7 +1436,7 @@ \subsubsection{Input Data Constraints} \label{sec_DataConstraints} \tesla} & See sensor datasheet. \\ $\omega$ & $-\infty < \omega < \infty$ & $|\mathbf{\omega}| \leq \omega_{\text{max}}$ & 1.0 \si[per-mode=symbol] {\radian\per\second} & See sensor datasheet. \\ - $\gamma$ & - & $0.0 \leq \gamma \leq 1.0$ & 0.5 & - \\ + $\gamma$ & - & $0.0 \leq \gamma \leq 1.0$ & 0.041 & - \\ \bottomrule \end{longtable*} \end{table} @@ -1444,29 +1502,29 @@ \subsection{Functional Requirements} that are supplied by the user. This information has to be explicit.} The user shall provide system inputs at initialization and every time step as listed below. - \textbf{Initialization}: the sensor sampling time $\Delta t$, the local magnetic field intensity - vector, the gain parameter $\gamma$, the desired output format, and the initial orientation if - magnetometer measurements are not present. + \textbf{Initialization}: None are required. Optional parameters are: the gain parameter + $\gamma$, and the initial orientation. \textbf{Each time step}: temporally synchronized (accelerometer, magnetometer, gyroscope) - measurements or (accelerometer, gyroscope) measurements. + measurements or (accelerometer, gyroscope) measurements, and the sensor sampling time $\Delta + t$. Refs \iref{i:o_from_comp_acc_gyro}, \iref{i:o_from_comp_all_3}. \item[R\refstepcounter{reqnum}\thereqnum \label{r:input2}:] If an initial orientation is not - provided \progname{} shall use the initial magnetometer measurement to produce an initial - orientation. Refs \iref{i:o_from_comp_acc_gyro}, \iref{i:o_from_comp_all_3}. + provided \progname{} shall use the initial sensor measurements to produce an initial + orientation. Refs \iref{i:acc_to_quat}, \iref{i:mag_to_quat}. \item[R\refstepcounter{reqnum}\thereqnum \label{r:calculate1}:] \progname{} shall calculate the orientation relative to the Earth frame when provided with accelerometer, gyroscope, and magnetometer measurements. Refs \iref{i:o_from_comp_all_3}. \item[R\refstepcounter{reqnum}\thereqnum \label{r:calculate2}:] \progname{} shall calculate the - yaw and pitch components of the orientation relative to the Earth frame when provided with - accelerometer and gyroscope measurements. Refs \iref{i:o_from_comp_acc_gyro}. + the orientation relative to the Earth frame when provided with accelerometer and gyroscope + measurements. Refs \iref{i:o_from_comp_acc_gyro}. \item[R\refstepcounter{reqnum}\thereqnum \label{r:output}:] \plt{Output related requirements.} - \progname{} shall output the orientation in the user specified format. Refs + \progname{} shall output the orientation in quaternion format. Refs \iref{i:o_from_comp_acc_gyro}, \iref{i:o_from_comp_all_3}. \end{itemize} @@ -1526,9 +1584,8 @@ \subsection{Rationale} The scope and assumptions in this document reflect realistic assumptions for a real-world sensors and systems. For small drones and robotics applications, the accuracy and quality of the sensors are -too low to require accounting for the rotation of the Earth. - -Typical values reflect values in recreational and hobby drones and robots. +too low to require accounting for the rotation of the Earth. Typical values reflect values in +recreational and hobby drones and robots. \plt{Provide a rationale for the decisions made in the documentation. Rationale should be provided for scope decisions, modelling decisions, assumptions and typical values.} @@ -1538,10 +1595,11 @@ \section{Likely Changes} \label{sec:likely_changes} \begin{itemize} % \item[LC\refstepcounter{lcnum}\thelcnum\label{lc:list}:] Add functionality to process a list % of sequential measurements and output a list of orientations instead of one at a time. - \item[LC\refstepcounter{lcnum}\thelcnum\label{lc:gyro}:] Add online gyroscope bias compensation. - This removes \aref{a:gyro}. - \item[LC\refstepcounter{lcnum}\thelcnum\label{lc:mag}:] Add magnetic disturbance compensation. - This removes \aref{a:mag}. + \item[LC\refstepcounter{lcnum}\thelcnum\label{lc:acc}:] Detect significant linear accerleration, + and ignore accelerometer measurements during large accerleration events. This removes + \aref{a:static}. + \item[LC\refstepcounter{lcnum}\thelcnum\label{lc:mag}:] Detect siginifiacnt magnetic disturbance + and ignore magnetmeter measurements. This removes \aref{a:mag}. \end{itemize} \section{Unlikely Changes} \label{sec:unlikely_changes} @@ -1578,23 +1636,25 @@ \section{Traceability Matrices and Graphs} \label{sec:trace} &\aref{a:east_mag}&\aref{a:rotation}&\aref{a:nonlinear}&\aref{a:bandwidth}&\aref{a:gsense}&\aref{a:quant}&\aref{a:range}&\aref{a:gyro}&\aref{a:mag} &\aref{a:rigid}& \aref{a:static} \\ \hline -\tref{TM:SMM} & & & & X& X& & X& X& & & & \\ \hline -\tref{TM:AV} & & & & & & & & & & & X& \\ \hline -\tref{TM:RK} & & & & & & & & & & & X&X \\ \hline +\tref{TM:SMM} & & & &X&X& &X&X& & & & \\ \hline +\tref{TM:AV} & & & & & & & & & & &X& \\ \hline +\tref{TM:RK} & & & & & & & & & & &X&X\\ \hline \tref{TM:LA} & & & & & & & & & & & & \\ \hline \tref{TM:CF} & & & & & & & & & & & & \\ \hline \tref{TM:OFV} & & & & & & & & & & & & \\ \hline -\dref{gd:q} & & & & & & & & & & & X& \\ \hline -\ddref{dd:acc} & & & & X& X& X& X& X& & & & \\ \hline -\ddref{dd:gyro} & & & X& X& X& & X& X& X& & & \\ \hline -\ddref{dd:mag} & & & & X& X& & X& X& & X& & \\ \hline -\iref{i:o_from_gyro} & & & X& X& X& & X& X& X& & X&X \\ \hline -\iref{i:o_from_min_acc} & X& & & X& X& X& X& X& & & &X \\ \hline -\iref{i:o_from_min_acc_mag} & X& X& & X& X& X& X& X& & X& &X \\ \hline -\iref{i:o_from_comp_acc_gyro}&X& & X& X& X& X& X& X& X& & X&X \\ \hline -\iref{i:o_from_comp_all_3} & X& X& X& X& X& X& X& X& X& X& X&X \\ \hline -\lcref{lc:gyro} & & & & & & & & & X& & & \\ \hline -\lcref{lc:mag} & & & & & & & & & & X& & \\ \hline +\dref{gd:q} & & & & & & & & & & &X& \\ \hline +\ddref{dd:acc} & & & &X&X&X&X&X& & & & \\ \hline +\ddref{dd:gyro} & & &X&X&X& &X&X&X& & & \\ \hline +\ddref{dd:mag} & & & &X&X& &X&X& &X& & \\ \hline +\iref{i:o_from_gyro} & & &X&X&X& &X&X&X& &X&X\\ \hline +\iref{i:o_from_min_acc} &X& & &X&X&X&X&X& & & &X\\ \hline +\iref{i:o_from_min_acc_mag} &X&X& &X&X&X&X&X& &X& &X\\ \hline +\iref{i:o_from_comp_acc_gyro}&X& &X&X&X&X&X&X&X& &X&X\\ \hline +\iref{i:o_from_comp_all_3} &X&X&X&X&X&X&X&X&X&X&X&X \\ \hline +\iref{i:acc_to_quat} &X& & & &X&X& &X& & &X&X\\ \hline +\iref{i:mag_to_quat} &X&X& & &X&X& &X& &X&X&X\\ \hline +\lcref{lc:acc} & & & & & & & & & & & &X\\ \hline +\lcref{lc:mag} & & & & & & & & & &X& & \\ \hline \end{tabular} \caption{Traceability Matrix Showing the Connections Between Assumptions and Other Items} \label{Table:A_trace} @@ -1605,27 +1665,29 @@ \section{Traceability Matrices and Graphs} \label{sec:trace} \begin{landscape} \begin{table}[h!] \centering -\begin{tabular}{|c|c|c|c|c|c|c|c|c|c|c|c|c|c|c|c|} +\begin{tabular}{|c|c|c|c|c|c|c|c|c|c|c|c|c|c|c|c|c|c|} \hline & \tref{TM:SMM} &\tref{TM:AV} &\tref{TM:RK} &\tref{TM:LA} &\tref{TM:CF} &\tref{TM:OFV} &\dref{gd:q} &\ddref{dd:acc}&\ddref{dd:gyro}&\ddref{dd:mag}&\iref{i:o_from_gyro} &\iref{i:o_from_min_acc} &\iref{i:o_from_min_acc_mag} &\iref{i:o_from_comp_acc_gyro} - &\iref{i:o_from_comp_all_3} \\ \hline - \tref{TM:SMM} & & & & & & & & & & & & & & & \\ \hline - \tref{TM:AV} & & & & & & & & & & & & & & & \\ \hline - \tref{TM:RK} & &X& & & & & & & & & & & & & \\ \hline - \tref{TM:LA} & & & & & & & & & & & & & & & \\ \hline - \tref{TM:CF} & & & & & & & & & & & & & & & \\ \hline - \tref{TM:OFV} & & & & & & & & & & & & & & & \\ \hline - \dref{gd:q} & &X& & & & & & & & & & & & & \\ \hline - \ddref{dd:acc} &X& & &X& & & & & & & & & & & \\ \hline - \ddref{dd:gyro} &X&X& & & & & & & & & & & & & \\ \hline - \ddref{dd:mag} &X& & & & & & & & & & & & & & \\ \hline - \iref{i:o_from_gyro} &X&X&X& & & &X& & & & & & & & \\ \hline - \iref{i:o_from_min_acc} &X& & &X& &X& &X& & & & & & & \\ \hline - \iref{i:o_from_min_acc_mag} &X& & &X& &X& & & &X& & & & & \\ \hline - \iref{i:o_from_comp_acc_gyro} &X&X&X&X&X&X&X&X&X& &X&X& & & \\ \hline - \iref{i:o_from_comp_all_3} &X&X&X&X&X&X&X&X&X&X&X& &X& & \\ \hline + &\iref{i:o_from_comp_all_3} & \iref{i:acc_to_quat} & \iref{i:mag_to_quat}\\ \hline + \tref{TM:SMM} & & & & & & & & & & & & & & & & & \\ \hline + \tref{TM:AV} & & & & & & & & & & & & & & & & & \\ \hline + \tref{TM:RK} & &X& & & & & & & & & & & & & & & \\ \hline + \tref{TM:LA} & & & & & & & & & & & & & & & & & \\ \hline + \tref{TM:CF} & & & & & & & & & & & & & & & & & \\ \hline + \tref{TM:OFV} & & & & & & & & & & & & & & & & & \\ \hline + \dref{gd:q} & &X& & & & & & & & & & & & & & & \\ \hline + \ddref{dd:acc} &X& & &X& & & & & & & & & & & & & \\ \hline + \ddref{dd:gyro} &X&X& & & & & & & & & & & & & & & \\ \hline + \ddref{dd:mag} &X& & & & & & & & & & & & & & & & \\ \hline + \iref{i:o_from_gyro} &X&X&X& & & &X& & & & & & & & & & \\ \hline + \iref{i:o_from_min_acc} &X& & &X& &X& &X& & & & & & & & & \\ \hline + \iref{i:o_from_min_acc_mag} &X& & &X& &X& & & &X& & & & & & & \\ \hline + \iref{i:o_from_comp_acc_gyro} &X&X&X&X&X&X&X&X&X& &X&X& & & & & \\ \hline + \iref{i:o_from_comp_all_3} &X&X&X&X&X&X&X&X&X&X&X& &X& & & & \\ \hline + \iref{i:acc_to_quat} &X& & &X& & & &X& & & & & & & & & \\ \hline + \iref{i:mag_to_quat} &X& & &X& & & &X& &X& & & & & & & \\ \hline \end{tabular} \caption{Traceability Matrix Showing the Connections Between Items of Different Sections} \label{Table:trace} @@ -1635,22 +1697,25 @@ \section{Traceability Matrices and Graphs} \label{sec:trace} \begin{table}[h!] \centering -\begin{tabular}{|c|c|c|c|c|c|c|c|c|c|c|} +\begin{tabular}{|c|c|c|c|c|c|c|c|c|c|c|c|c|} \hline &\iref{i:o_from_gyro} &\iref{i:o_from_min_acc} &\iref{i:o_from_min_acc_mag} - &\iref{i:o_from_comp_acc_gyro} &\iref{i:o_from_comp_all_3} & \rref{r:inputs} & \rref{r:input2} & - \rref{r:calculate1} & \rref{r:calculate2}& \rref{r:output} \\ + &\iref{i:o_from_comp_acc_gyro} &\iref{i:o_from_comp_all_3} & \iref{i:acc_to_quat} & + \iref{i:mag_to_quat} & \rref{r:inputs} & \rref{r:input2} & \rref{r:calculate1} & + \rref{r:calculate2}& \rref{r:output} \\ \hline -\iref{i:o_from_gyro} & & & & & & & & & &\\ \hline -\iref{i:o_from_min_acc} & & & & & & & & & &\\ \hline -\iref{i:o_from_min_acc_mag} & & & & & & & & & &\\ \hline -\iref{i:o_from_comp_acc_gyro}& & & & & &X&X& &X&\\ \hline -\iref{i:o_from_comp_all_3} & & & & & &X&X&X& &\\ \hline -\rref{r:inputs} & & & & & & & & & &\\ \hline -\rref{r:input2} & & & & & & & & & &\\ \hline -\rref{r:calculate1} & & & & & & & & & &\\ \hline -\rref{r:calculate2} & & & & & & & & & &\\ \hline -\rref{r:output} & & & & & & & & & &\\ \hline +\iref{i:o_from_gyro} & & & & & & & & & & & &\\ \hline +\iref{i:o_from_min_acc} & & & & & & & & & & & &\\ \hline +\iref{i:o_from_min_acc_mag} & & & & & & & & & & & &X\\ \hline +\iref{i:o_from_comp_acc_gyro}& & & & & & & &X& & &X&X\\ \hline +\iref{i:o_from_comp_all_3} & & & & & & & &X& &X& &\\ \hline +\iref{i:acc_to_quat} & & & & & & & & &X& & &\\ \hline +\iref{i:mag_to_quat} & & & & & & & & &X& & &\\ \hline +\rref{r:inputs} & & & & & & & & & & & &\\ \hline +\rref{r:input2} & & & & & & & & & & & &\\ \hline +\rref{r:calculate1} & & & & & & & & & & & &\\ \hline +\rref{r:calculate2} & & & & & & & & & & & &\\ \hline +\rref{r:output} & & & & & & & & & & & &\\ \hline \end{tabular} \caption{Traceability Matrix Showing the Connections Between Requirements and Instance Models} \label{Table:R_trace}