基于IMU的导航 C语言代码

以下是一个基于IMU的导航的C语言代码示例：

#include <stdio.h>
#include <math.h>
#define PI 3.14159265358979323846

// 定义IMU数据结构体
typedef struct {
    double ax;
    double ay;
    double az;
    double gx;
    double gy;
    double gz;
} IMUData;

// 定义姿态数据结构体
typedef struct {
    double roll;
    double pitch;
    double yaw;
} AttitudeData;

// 初始化IMU数据
void initIMUData(IMUData* data) {
    data->ax = 0.0;
    data->ay = 0.0;
    data->az = 0.0;
    data->gx = 0.0;
    data->gy = 0.0;
    data->gz = 0.0;
}

// 初始化姿态数据
void initAttitudeData(AttitudeData* data) {
    data->roll = 0.0;
    data->pitch = 0.0;
    data->yaw = 0.0;
}

// 计算姿态数据
void calculateAttitudeData(IMUData* imuData, AttitudeData* attitudeData) {
    double ax = imuData->ax;
    double ay = imuData->ay;
    double az = imuData->az;
    double gx = imuData->gx;
    double gy = imuData->gy;
    double gz = imuData->gz;

    double roll = atan2(ay, az);
    double pitch = atan2(-ax, sqrt(ay * ay + az * az));
    double yaw = attitudeData->yaw + gz * 0.01;

    if (yaw > PI) {
        yaw -= 2 * PI;
    } else if (yaw < -PI) {
        yaw += 2 * PI;
    }

    attitudeData->roll = roll;
    attitudeData->pitch = pitch;
    attitudeData->yaw = yaw;
}

int main() {
    IMUData imuData;
    AttitudeData attitudeData;

    initIMUData(&imuData);
    initAttitudeData(&attitudeData);

    // 读取IMU数据并进行姿态计算
    while (1) {
        scanf("%lf,%lf,%lf,%lf,%lf,%lf", 
            &imuData.ax, &imuData.ay, &imuData.az,
            &imuData.gx, &imuData.gy, &imuData.gz);

        calculateAttitudeData(&imuData, &attitudeData);

        printf("Roll: %lf, Pitch: %lf, Yaw: %lf\n",
            attitudeData.roll, attitudeData.pitch, attitudeData.yaw);
    }

    return 0;
}

这个代码示例实现了一个简单的基于IMU的姿态导航，通过读取IMU的加速度计和陀螺仪数据，计算出当前的姿态数据，并输出到终端。需要注意的是，这个代码示例只是一个基础示例，实际应用中还需要进行更多的优化和校准。