C语言写一个小车的惯性导航代码

惯性导航是一种基于车辆惯性力量和姿态传感器数据的导航方式，主要使用陀螺仪和加速度计来测量车辆的姿态和加速度，然后通过数学模型计算车辆的位置、速度和方向。以下是一个简单的使用C语言实现惯性导航的代码示例：

#include <stdio.h>
#include <math.h>

#define PI 3.14159265359

typedef struct {
    double x;
    double y;
    double z;
} Vector;

typedef struct {
    Vector position;
    Vector velocity;
    Vector acceleration;
    Vector orientation;
    Vector angularVelocity;
    Vector angularAcceleration;
} CarState;

int main() {
    CarState car = { {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0} };
    double timeStep = 0.1; // 时间步长
    double speed = 10; // 初始速度
    double heading = 0; // 初始航向角度
    double pitch = 0; // 初始俯仰角度
    double roll = 0; // 初始翻滚角度
    double gyroX = 0; // 陀螺仪X轴输出
    double gyroY = 0; // 陀螺仪Y轴输出
    double gyroZ = 0; // 陀螺仪Z轴输出
    double accX = 0; // 加速度计X轴输出
    double accY = 0; // 加速度计Y轴输出
    double accZ = 0; // 加速度计Z轴输出
    double mass = 1000; // 小车质量
    double wheelBase = 2.5; // 小车轴距
    double wheelTrack = 1.5; // 小车轮距
    double wheelRadius = 0.25; // 小车轮半径
    double mu = 0.1; // 摩擦系数
    double steeringAngle = 0; // 方向盘转角
    double throttle = 0; // 油门开度

    while (1) {
        // 计算小车姿态
        car.orientation.x += car.angularVelocity.x * timeStep;
        car.orientation.y += car.angularVelocity.y * timeStep;
        car.orientation.z += car.angularVelocity.z * timeStep;

        // 计算小车速度
        car.velocity.x += car.acceleration.x * timeStep;
        car.velocity.y += car.acceleration.y * timeStep;
        car.velocity.z += car.acceleration.z * timeStep;

        // 计算小车位置
        car.position.x += car.velocity.x * timeStep;
        car.position.y += car.velocity.y * timeStep;
        car.position.z += car.velocity.z * timeStep;

        // 读取传感器数据
        gyroX = 0; // TODO: 读取陀螺仪X轴数据
        gyroY = 0; // TODO: 读取陀螺仪Y轴数据
        gyroZ = 0; // TODO: 读取陀螺仪Z轴数据
        accX = 0; // TODO: 读取加速度计X轴数据
        accY = 0; // TODO: 读取加速度计Y轴数据
        accZ = 0; // TODO: 读取加速度计Z轴数据

        // 计算小车加速度
        car.acceleration.x = accX;
        car.acceleration.y = accY;
        car.acceleration.z = accZ;

        // 计算小车角速度
        car.angularVelocity.x = gyroX;
        car.angularVelocity.y = gyroY;
        car.angularVelocity.z = gyroZ;

        // 计算小车角加速度
        car.angularAcceleration.x = (steeringAngle / wheelBase) * speed * cos(pitch) + (1 / mass) * (wheelTrack / 2) * (throttle - mu * mass * 9.8 * sin(pitch)) * cos(heading);
        car.angularAcceleration.y = (steeringAngle / wheelBase) * speed * sin(pitch) + (1 / mass) * (wheelTrack / 2) * (throttle - mu * mass * 9.8 * sin(pitch)) * sin(heading);
        car.angularAcceleration.z = (1 / mass) * (wheelTrack / 2) * (throttle - mu * mass * 9.8 * sin(pitch)) * sin(steeringAngle);

        // 更新小车状态
        speed += car.acceleration.z * timeStep;
        heading += (speed / wheelBase) * tan(steeringAngle) * timeStep;
        pitch += car.angularVelocity.x * timeStep;
        roll += car.angularVelocity.y * timeStep;

        // 输出小车状态
        printf("Position: (%lf, %lf, %lf)\n", car.position.x, car.position.y, car.position.z);
        printf("Velocity: (%lf, %lf, %lf)\n", car.velocity.x, car.velocity.y, car.velocity.z);
        printf("Acceleration: (%lf, %lf, %lf)\n", car.acceleration.x, car.acceleration.y, car.acceleration.z);
        printf("Orientation: (%lf, %lf, %lf)\n", car.orientation.x, car.orientation.y, car.orientation.z);
        printf("Angular Velocity: (%lf, %lf, %lf)\n", car.angularVelocity.x, car.angularVelocity.y, car.angularVelocity.z);
        printf("Angular Acceleration: (%lf, %lf, %lf)\n", car.angularAcceleration.x, car.angularAcceleration.y, car.angularAcceleration.z);

        // 等待下一个时间步长
        // TODO: 通过延时函数等待下一个时间步长
    }

    return 0;
}

这只是一个简单的示例代码，实际应用中还需要根据具体情况进行调整和优化。