MPU6050卡尔曼滤波代码
时间: 2023-10-17 16:05:37 浏览: 96
以下是MPU6050使用卡尔曼滤波的代码示例:
```c++
#include <Wire.h>
#include <MPU6050.h>
MPU6050 mpu;
int16_t ax, ay, az;
int16_t gx, gy, gz;
// 卡尔曼滤波变量
double q_angle = 0.001;
double q_gyro = 0.003;
double r_angle = 0.5;
double dt = 0.01; // 采样周期
double C_0 = 1;
double Q_angle = 0.001;
double Q_gyro = 0.003;
double R_angle = 0.5;
double x_angle = 0;
double x_bias = 0;
double P_00 = 0, P_01 = 0, P_10 = 0, P_11 = 0;
void setup() {
Wire.begin();
Serial.begin(9600);
mpu.initialize();
mpu.setDLPFMode(3); // 设置低通滤波器的模式
mpu.setFullScaleGyroRange(3); // 设置陀螺仪的量程
mpu.setFullScaleAccelRange(2); // 设置加速度计的量程
}
void loop() {
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
// 计算加速度计和陀螺仪的角度
double acc_angle = atan2(ay, az) * 180 / PI;
double gyro_rate = gx / 131.0;
double gyro_angle = x_angle + (gyro_rate - x_bias) * dt;
// 卡尔曼滤波
double y = acc_angle - gyro_angle;
double S = R_angle + P_00;
double K_0 = P_00 / S;
double K_1 = P_10 / S;
x_angle += K_0 * y;
x_bias += K_1 * y;
P_00 -= K_0 * P_00;
P_01 -= K_0 * P_01;
P_10 -= K_1 * P_00;
P_11 -= K_1 * P_01;
P_00 += Q_angle;
P_01 -= Q_angle;
P_10 -= Q_angle;
P_11 += Q_gyro;
// 输出滤波后的角度值
Serial.print("Filtered Angle: ");
Serial.println(x_angle);
delay(10);
}
```
上述代码中,我们使用了MPU6050库来读取传感器数据,并使用卡尔曼滤波算法计算角度值。具体实现过程中,需要注意卡尔曼滤波的各个参数的设置和计算。