姿态解算代码

#include "Wire.h"
#include "I2Cdev.h"unsigned long now, lastTime = 0;
float dt;                                   //微分时间int16_t ax, ay, az, gx, gy, gz;             //加速度计陀螺仪原始数据
float aax=0, aay=0,aaz=0, agx=0, agy=0, agz=0;    //角度变量
long axo = 0, ayo = 0, azo = 0;             //加速度计偏移量
long gxo = 0, gyo = 0, gzo = 0;             //陀螺仪偏移量float pi = 3.1415926;
float AcceRatio = 16384.0;                  //加速度计比例系数
float GyroRatio = 131.0;                    //陀螺仪比例系数uint8_t n_sample = 8;                       //加速度计滤波算法采样个数
float aaxs[8] = {0}, aays[8] = {0}, aazs[8] = {0};         //x,y轴采样队列
long aax_sum, aay_sum,aaz_sum;                      //x,y轴采样和float a_x[10]={0}, a_y[10]={0},a_z[10]={0} ,g_x[10]={0} ,g_y[10]={0},g_z[10]={0}; //加速度计协方差计算队列
float Px=1, Rx, Kx, Sx, Vx, Qx;             //x轴卡尔曼变量
float Py=1, Ry, Ky, Sy, Vy, Qy;             //y轴卡尔曼变量
float Pz=1, Rz, Kz, Sz, Vz, Qz;             //z轴卡尔曼变量void setup()
{Wire.begin();Serial.begin(115200);accelgyro.initialize();                 //初始化unsigned short times = 200;             //采样次数for(int i=0;i<times;i++){accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值axo += ax; ayo += ay; azo += az;      //采样和gxo += gx; gyo += gy; gzo += gz;}axo /= times; ayo /= times; azo /= times; //计算加速度计偏移gxo /= times; gyo /= times; gzo /= times; //计算陀螺仪偏移
}void loop()
{unsigned long now = millis();             //当前时间(ms)dt = (now - lastTime) / 1000.0;           //微分时间(s)lastTime = now;                           //上一次采样时间(ms)accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值float accx = ax / AcceRatio;              //x轴加速度float accy = ay / AcceRatio;              //y轴加速度float accz = az / AcceRatio;              //z轴加速度aax = atan(accy / accz) * (-180) / pi;    //y轴对于z轴的夹角aay = atan(accx / accz) * 180 / pi;       //x轴对于z轴的夹角aaz = atan(accz / accy) * 180 / pi;       //z轴对于y轴的夹角aax_sum = 0;                              // 对于加速度计原始数据的滑动加权滤波算法aay_sum = 0;aaz_sum = 0;for(int i=1;i<n_sample;i++){aaxs[i-1] = aaxs[i];aax_sum += aaxs[i] * i;aays[i-1] = aays[i];aay_sum += aays[i] * i;aazs[i-1] = aazs[i];aaz_sum += aazs[i] * i;}aaxs[n_sample-1] = aax;aax_sum += aax * n_sample;aax = (aax_sum / (11*n_sample/2.0)) * 9 / 7.0; //角度调幅至0-90°aays[n_sample-1] = aay;                        //此处应用实验法取得合适的系数aay_sum += aay * n_sample;                     //本例系数为9/7aay = (aay_sum / (11*n_sample/2.0)) * 9 / 7.0;aazs[n_sample-1] = aaz; aaz_sum += aaz * n_sample;aaz = (aaz_sum / (11*n_sample/2.0)) * 9 / 7.0;float gyrox = - (gx-gxo) / GyroRatio * dt; //x轴角速度float gyroy = - (gy-gyo) / GyroRatio * dt; //y轴角速度float gyroz = - (gz-gzo) / GyroRatio * dt; //z轴角速度agx += gyrox;                             //x轴角速度积分agy += gyroy;                             //x轴角速度积分agz += gyroz;/* kalman start */Sx = 0; Rx = 0;Sy = 0; Ry = 0;Sz = 0; Rz = 0;for(int i=1;i<10;i++){                 //测量值平均值运算a_x[i-1] = a_x[i];                      //即加速度平均值Sx += a_x[i];a_y[i-1] = a_y[i];Sy += a_y[i];a_z[i-1] = a_z[i];Sz += a_z[i];}a_x[9] = aax;Sx += aax;Sx /= 10;                                 //x轴加速度平均值a_y[9] = aay;Sy += aay;Sy /= 10;                                 //y轴加速度平均值a_z[9] = aaz;Sz += aaz;Sz /= 10;for(int i=0;i<10;i++){Rx += sq(a_x[i] - Sx);Ry += sq(a_y[i] - Sy);Rz += sq(a_z[i] - Sz);}Rx = Rx / 9;                              //得到方差Ry = Ry / 9;                        Rz = Rz / 9;Px = Px + 0.0025;                         // 0.0025在下面有说明...Kx = Px / (Px + Rx);                      //计算卡尔曼增益agx = agx + Kx * (aax - agx);             //陀螺仪角度与加速度计速度叠加Px = (1 - Kx) * Px;                       //更新p值Py = Py + 0.0025;Ky = Py / (Py + Ry);agy = agy + Ky * (aay - agy); Py = (1 - Ky) * Py;Pz = Pz + 0.0025;Kz = Pz / (Pz + Rz);agz = agz + Kz * (aaz - agz); Pz = (1 - Kz) * Pz;/* kalman end */Serial.print(agx);Serial.print(",");Serial.print(agy);Serial.print(",");Serial.print(agz);Serial.println();}