陀螺仪3轴角速度结算四元姿态用C语言实现

以下是使用C语言实现陀螺仪3轴角速度结算四元姿态的代码示例：

#include <math.h>

#define PI 3.141592654

// 定义四元数结构体
typedef struct {
    double w, x, y, z;
} Quaternion;

// 定义陀螺仪结构体
typedef struct {
    double x, y, z;
} Gyroscope;

// 计算四元数
Quaternion calculateQuaternion(Gyroscope gyro, double dt) {
    double ax = gyro.x * dt;
    double ay = gyro.y * dt;
    double az = gyro.z * dt;

    double sin_ax = sin(ax / 2.0);
    double cos_ax = cos(ax / 2.0);
    double sin_ay = sin(ay / 2.0);
    double cos_ay = cos(ay / 2.0);
    double sin_az = sin(az / 2.0);
    double cos_az = cos(az / 2.0);

    Quaternion q;
    q.w = cos_ax * cos_ay * cos_az + sin_ax * sin_ay * sin_az;
    q.x = sin_ax * cos_ay * cos_az - cos_ax * sin_ay * sin_az;
    q.y = cos_ax * sin_ay * cos_az + sin_ax * cos_ay * sin_az;
    q.z = cos_ax * cos_ay * sin_az - sin_ax * sin_ay * cos_az;

    return q;
}

// 计算欧拉角
void calculateEulerAngles(Quaternion q, double* roll, double* pitch, double* yaw) {
    double ysqr = q.y * q.y;

    // roll (x-axis rotation)
    double t0 = 2.0 * (q.w * q.x + q.y * q.z);
    double t1 = 1.0 - 2.0 * (q.x * q.x + ysqr);
    *roll = atan2(t0, t1) * 180.0 / PI;

    // pitch (y-axis rotation)
    double t2 = 2.0 * (q.w * q.y - q.z * q.x);
    t2 = t2 > 1.0 ? 1.0 : t2;
    t2 = t2 < -1.0 ? -1.0 : t2;
    *pitch = asin(t2) * 180.0 / PI;

    // yaw (z-axis rotation)
    double t3 = 2.0 * (q.w * q.z + q.x * q.y);
    double t4 = 1.0 - 2.0 * (ysqr + q.z * q.z);
    *yaw = atan2(t3, t4) * 180.0 / PI;
}

int main() {
    Gyroscope gyro = {0.1, 0.2, 0.3}; // 陀螺仪数据
    double dt = 0.01; // 采样时间

    Quaternion q = calculateQuaternion(gyro, dt); // 计算四元数
    double roll, pitch, yaw;
    calculateEulerAngles(q, &roll, &pitch, &yaw); // 计算欧拉角

    return 0;
}

这段代码中，定义了一个`Quaternion`结构体表示四元数，另外还定义了一个`Gyroscope`结构体表示陀螺仪数据。`calculateQuaternion`函数用于计算四元数，`calculateEulerAngles`函数用于根据四元数计算欧拉角。在`main`函数中，我们可以设置陀螺仪数据和采样时间，并通过调用`calculateQuaternion`和`calculateEulerAngles`函数计算出四元数和欧拉角。