用c语言写个姿态解算的代码
时间: 2023-03-30 10:02:38 浏览: 61
好的,我可以回答这个问题。姿态解算是指通过传感器数据计算出物体的姿态,常见的方法有卡尔曼滤波、四元数等。以下是一个用 C 语言实现的四元数姿态解算的代码示例:
```c
#include <math.h>
typedef struct {
double w, x, y, z;
} Quaternion;
Quaternion q_mult(Quaternion a, Quaternion b) {
Quaternion q;
q.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z;
q.x = a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y;
q.y = a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x;
q.z = a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w;
return q;
}
Quaternion q_from_axis_angle(double x, double y, double z, double angle) {
Quaternion q;
double s = sin(angle / 2);
q.w = cos(angle / 2);
q.x = x * s;
q.y = y * s;
q.z = z * s;
return q;
}
Quaternion q_from_euler_angles(double roll, double pitch, double yaw) {
Quaternion q;
double cy = cos(yaw / 2);
double sy = sin(yaw / 2);
double cp = cos(pitch / 2);
double sp = sin(pitch / 2);
double cr = cos(roll / 2);
double sr = sin(roll / 2);
q.w = cr * cp * cy + sr * sp * sy;
q.x = sr * cp * cy - cr * sp * sy;
q.y = cr * sp * cy + sr * cp * sy;
q.z = cr * cp * sy - sr * sp * cy;
return q;
}
Quaternion q_normalize(Quaternion q) {
double norm = sqrt(q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z);
q.w /= norm;
q.x /= norm;
q.y /= norm;
q.z /= norm;
return q;
}
Quaternion q_conjugate(Quaternion q) {
q.x = -q.x;
q.y = -q.y;
q.z = -q.z;
return q;
}
Quaternion q_rotate(Quaternion q, double x, double y, double z) {
Quaternion p = {, x, y, z};
Quaternion q_conj = q_conjugate(q);
Quaternion q_p = q_mult(q_mult(q, p), q_conj);
return q_p;
}
int main() {
// 从传感器获取角速度和加速度数据
double gyro_x, gyro_y, gyro_z; // 角速度
double accel_x, accel_y, accel_z; // 加速度
// 计算四元数
Quaternion q_gyro = q_from_axis_angle(gyro_x, gyro_y, gyro_z, dt);
Quaternion q_accel = q_from_euler_angles(atan2(accel_y, accel_z), atan2(-accel_x, sqrt(accel_y * accel_y + accel_z * accel_z)), );
Quaternion q = q_normalize(q_mult(q_gyro, q_accel));
// 将四元数转换为欧拉角
double roll = atan2(2 * (q.w * q.x + q.y * q.z), 1 - 2 * (q.x * q.x + q.y * q.y));
double pitch = asin(2 * (q.w * q.y - q.z * q.x));
double yaw = atan2(2 * (q.w * q.z + q.x * q.y), 1 - 2 * (q.y * q.y + q.z * q.z));
return ;
}
```