有把加速度计和陀螺仪融合的算法吗

有把加速度计和陀螺仪融合的算法吗

有把加 速度计和陀螺仪融合的算法吗 有把加速度 计和陀螺仪融合的 算法吗

给你arduino的卡尔曼滤波融合算法，非原创，我只是封装了算法。 h文件： #ifndef kalmanfilter_h #define kalmanfilter_h #include class kalmanfilter { public: kalmanfilter(); void getvalue(double angle_m, double gyro_m, double dt, double &outangle, double &outangledot); private: double c_0, q_angle, q_gyro, r_angle; double q_bias, angle_err, pct_0, pct_1, e, k_0, k_1, t_0, t_1; double angle, angle_dot; double p[2][2]; double pdot[4]; }; cpp文件： #include "kalmanfilter.h" kalmanfilter::kalmanfilter() { c_0 = 1.0f; q_angle = 0.001f; q_gyro = 0.003f; r_angle = 0.5f; q_bias = angle_err = pct_0 = pct_1 = e = k_0 = k_1 = t_0 = t_1 = 0.0f; angle = angle_dot = 0.0f; p[0][0] = 1.0f; p[0][1] = 0.0f; p[1][0] = 0.0f; p[1][1] = 1.0f; pdot[0] = 0.0f; pdot[1] = 0.0f; pdot[2] = 0.0f; pdot[3] = 0.0f; } void kalmanfilter::getvalue(double angle_m, double gyro_m, double dt, double &outangle, double &outangledot) { angle+=(gyro_m-q_bias) * dt; angle_err = angle_m - angle; pdot[0] = q_angle - p[0][1] - p[1][0]; pdot[1] = -p[1][1]; pdot[2] = -p[1][1]; pdot[3] = q_gyro; p[0][0] += pdot[0] * dt; p[0][1] += pdot[1] * dt; p[1][0] += pdot[2] * dt; p[1][1] += pdot[3] * dt; pct_0 = c_0 * p[0][0]; pct_1 = c_0 * p[1][0]; e = r_angle + c_0 * pct_0; k_0 = pct_0 / e; k_1 = pct_1 / e; t_0 = pct_0; t_1 = c_0 * p[0][1]; p[0][0] -= k_0 * t_0; p[0][1] -= k_0 * t_1; p[1][0] -= k_1 * t_0; p[1][1] -= k_1 * t_1; angle += k_0 * angle_err; q_bias += k_1 * angle_err; angle_dot = gyro_m-q_bias; outangle = angle; outangledot = angle_dot; } #endif