包含imr文件读取的惯导初始对准代码

以下是一个基于C++的惯导初始对准代码，它可以读取IMU数据文件并进行惯导初始对准：

#include <iostream>
#include <fstream>
#include <string>
#include <cmath>

using namespace std;

// IMU数据结构体
struct IMUData {
    double ax, ay, az;  // 加速度计测量值
    double gx, gy, gz;  // 陀螺仪测量值
    double mx, my, mz;  // 磁力计测量值
    double roll, pitch, yaw;  // 欧拉角
};

// 惯导初始对准类
class INSAlignment {
public:
    INSAlignment() {}
    ~INSAlignment() {}

    // 读取IMU数据文件
    void readIMUDataFile(const string& filename) {
        ifstream input(filename);
        if (!input.is_open()) {
            cerr << "Error: Failed to open file " << filename << endl;
            return;
        }
        string line;
        while (getline(input, line)) {
            IMUData data;
            sscanf(line.c_str(), "%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf,%lf",
                   &data.ax, &data.ay, &data.az, &data.gx, &data.gy, &data.gz,
                   &data.mx, &data.my, &data.mz, &data.roll, &data.pitch, &data.yaw);
            imu_data_.push_back(data);
        }
        input.close();
        cout << "Successfully loaded " << imu_data_.size() << " IMU data." << endl;
    }

    // 惯导初始对准
    void insAlignment() {
        // 初始化
        double roll = imu_data_[0].roll;
        double pitch = imu_data_[0].pitch;
        double yaw = imu_data_[0].yaw;
        double q0 = cos(yaw/2) * cos(pitch/2) * cos(roll/2) + sin(yaw/2) * sin(pitch/2) * sin(roll/2);
        double q1 = cos(yaw/2) * cos(pitch/2) * sin(roll/2) - sin(yaw/2) * sin(pitch/2) * cos(roll/2);
        double q2 = cos(yaw/2) * sin(pitch/2) * cos(roll/2) + sin(yaw/2) * cos(pitch/2) * sin(roll/2);
        double q3 = sin(yaw/2) * cos(pitch/2) * cos(roll/2) - cos(yaw/2) * sin(pitch/2) * sin(roll/2);
        double phi = roll;
        double theta = pitch;
        double psi = yaw;

        // 循环处理IMU数据
        for (int i = 1; i < imu_data_.size(); ++i) {
            double dt = 0.01;  // 时间间隔
            double ax = imu_data_[i].ax;
            double ay = imu_data_[i].ay;
            double az = imu_data_[i].az;
            double gx = imu_data_[i].gx * M_PI / 180.0;
            double gy = imu_data_[i].gy * M_PI / 180.0;
            double gz = imu_data_[i].gz * M_PI / 180.0;
            double mx = imu_data_[i].mx;
            double my = imu_data_[i].my;
            double mz = imu_data_[i].mz;

            // 更新姿态
            double q0_dot = -0.5 * q1 * gx - 0.5 * q2 * gy - 0.5 * q3 * gz;
            double q1_dot = 0.5 * q0 * gx + 0.5 * q2 * gz - 0.5 * q3 * gy;
            double q2_dot = 0.5 * q0 * gy - 0.5 * q1 * gz + 0.5 * q3 * gx;
            double q3_dot = 0.5 * q0 * gz + 0.5 * q1 * gy - 0.5 * q2 * gx;
            q0 += q0_dot * dt;
            q1 += q1_dot * dt;
            q2 += q2_dot * dt;
            q3 += q3_dot * dt;

            double norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
            q0 /= norm;
            q1 /= norm;
            q2 /= norm;
            q3 /= norm;

            double m11 = q0*q0 + q1*q1 - q2*q2 - q3*q3;
            double m12 = 2 * (q1*q2 + q0*q3);
            double m13 = 2 * (q1*q3 - q0*q2);
            double m21 = 2 * (q1*q2 - q0*q3);
            double m22 = q0*q0 - q1*q1 + q2*q2 - q3*q3;
            double m23 = 2 * (q2*q3 + q0*q1);
            double m31 = 2 * (q1*q3 + q0*q2);
            double m32 = 2 * (q2*q3 - q0*q1);
            double m33 = q0*q0 - q1*q1 - q2*q2 + q3*q3;

            double hx = mx * m11 + my * m12 + mz * m13;
            double hy = mx * m21 + my * m22 + mz * m23;
            double hz = mx * m31 + my * m32 + mz * m33;

            double bx = sqrt(hx*hx + hy*hy);
            double bz = hz;

            double phi_dot = gx + gy * sin(phi) * tan(theta) + gz * cos(phi) * tan(theta);
            double theta_dot = gy * cos(phi) - gz * sin(phi);
            double psi_dot = gy * sin(phi) / cos(theta) + gz * cos(phi) / cos(theta);

            phi += phi_dot * dt;
            theta += theta_dot * dt;
            psi += psi_dot * dt;

            // 更新磁力计偏差
            double k = 0.01;  // 磁力计偏差更新速率
            mx -= bx * k;
            mz -= bz * k;

            imu_data_[i].roll = phi;
            imu_data_[i].pitch = theta;
            imu_data_[i].yaw = psi;
        }
        cout << "INS alignment completed." << endl;
    }

    // 输出姿态角
    void printAttitude() {
        for (int i = 0; i < imu_data_.size(); ++i) {
            cout << "roll: " << imu_data_[i].roll << ", ";
            cout << "pitch: " << imu_data_[i].pitch << ", ";
            cout << "yaw: " << imu_data_[i].yaw << endl;
        }
    }

private:
    vector<IMUData> imu_data_;  // IMU数据
};

int main() {
    INSAlignment ins_alignment;
    ins_alignment.readIMUDataFile("imu_data.txt");
    ins_alignment.insAlignment();
    ins_alignment.printAttitude();
    return 0;
}

其中，IMU数据文件的格式为：

ax,ay,az,gx,gy,gz,mx,my,mz,roll,pitch,yaw

每行代表一组IMU数据，以逗号分隔，分别表示加速度计测量值（$a_x, a_y, a_z$）、陀螺仪测量值（$g_x, g_y, g_z$）、磁力计测量值（$m_x, m_y, m_z$）以及姿态角（$roll, pitch, yaw$）。