Mahony算法解算九轴陀螺仪具体代码
时间: 2023-02-11 21:16:48 浏览: 84
Mahony算法是一种用来融合加速度计和陀螺仪数据的算法,用于估算机器人或无人机的姿态。它通常由以下几个步骤组成:
1. 利用加速度计读数计算出重力向量。
2. 利用陀螺仪读数计算出角速度向量。
3. 使用某种滤波方法,如卡尔曼滤波或梯度下降法,融合这两个向量来估计姿态。
4. 在陀螺仪数据上使用误差积分来修正姿态估计值。
这里是一个用C++编写的Mahony算法的例子代码:
```c++
#define Kp 2.0f // proportional gain governs rate of convergence to accelerometer/magnetometer
#define Ki 0.005f // integral gain governs rate of convergence of gyroscope biases
float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to auxiliary frame
void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az)
{
float recipNorm;
float halfvx, halfvy, halfvz;
float halfex, halfey, halfez;
float qa, qb, qc;
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement
recipNorm = invSqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm;
ay *= recipNorm;
az *= recipNorm;
// Estimated direction of gravity
halfvx = q1 * q3 - q0 * q2;
halfvy = q0 * q1 + q2 * q3;
halfvz = q0 * q0 - 0.5f + q3 * q3;
// Error is sum of cross product between estimated direction and measured direction of field vectors
halfex = (ay * halfvz - az * halfvy);
halfey = (az * halfvx - ax * halfvz);
half