用C语言写一个方位俯仰两轴跟踪kalman滤波算法
时间: 2023-12-29 12:22:50 浏览: 22
以下是一个简单的基于Kalman滤波的方位俯仰两轴跟踪算法的C语言实现,仅供参考:
```c
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
// 常数定义
const float Q = 0.001; // 系统噪声协方差
const float R = 0.1; // 测量噪声协方差
const float dt = 0.01; // 采样时间间隔
// 定义Kalman滤波器结构体
typedef struct {
float x_hat; // 状态估计值
float P; // 估计误差协方差
float Q; // 系统噪声协方差
float R; // 测量噪声协方差
float K; // Kalman增益
} KalmanFilter;
// 初始化Kalman滤波器
void initKalmanFilter(KalmanFilter *kf, float x_init, float P_init) {
kf->x_hat = x_init;
kf->P = P_init;
kf->Q = Q;
kf->R = R;
kf->K = 0.0;
}
// 更新Kalman滤波器
void updateKalmanFilter(KalmanFilter *kf, float z) {
// 预测
float x_hat_minus = kf->x_hat;
float P_minus = kf->P + kf->Q;
// 更新
kf->K = P_minus / (P_minus + kf->R);
kf->x_hat = x_hat_minus + kf->K * (z - x_hat_minus);
kf->P = (1 - kf->K) * P_minus;
}
int main() {
// 初始化Kalman滤波器
KalmanFilter kf_roll, kf_pitch;
initKalmanFilter(&kf_roll, 0.0, 1.0);
initKalmanFilter(&kf_pitch, 0.0, 1.0);
// 模拟输入数据
float roll = 0.0;
float pitch = 0.0;
float roll_rate = 10.0;
float pitch_rate = 5.0;
float roll_acc = 0.0;
float pitch_acc = 0.0;
// 模拟采样
for (int i = 0; i < 1000; i++) {
// 计算真实值
roll += roll_rate * dt + 0.5 * roll_acc * dt * dt;
pitch += pitch_rate * dt + 0.5 * pitch_acc * dt * dt;
roll_rate += roll_acc * dt;
pitch_rate += pitch_acc * dt;
// 添加高斯噪声
float roll_z = roll + 0.1 * ((float)rand() / RAND_MAX - 0.5);
float pitch_z = pitch + 0.1 * ((float)rand() / RAND_MAX - 0.5);
// 更新Kalman滤波器
updateKalmanFilter(&kf_roll, roll_z);
updateKalmanFilter(&kf_pitch, pitch_z);
// 控制器计算
float roll_error = 0.0 - kf_roll.x_hat;
float pitch_error = 0.0 - kf_pitch.x_hat;
float roll_cmd = roll_error * 0.1;
float pitch_cmd = pitch_error * 0.1;
// 输出结果
printf("%f, %f, %f, %f, %f, %f, %f, %f\n", roll, pitch, roll_rate, pitch_rate, roll_acc, pitch_acc, roll_cmd, pitch_cmd);
}
return 0;
}
```
上述代码实现了基于Kalman滤波的方位俯仰两轴跟踪算法,包括初始化、更新、控制等功能。程序中模拟了一个简单的物理系统,每个时间步长计算出真实值,并添加高斯噪声,然后用Kalman滤波器进行估计和校正,最后计算出控制指令,输出结果。需要注意的是,这只是一个简单的示例代码,实际应用时需要根据具体的系统和传感器进行调整和优化。