imu惯性导航和GPS融合代码C语言

以下是一个简单的imu惯性导航和GPS融合的代码示例（使用C语言）：

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

#define PI 3.14159265358979323846

// 定义常量
const double a = 6378137.0;   // 地球长半轴
const double b = 6356752.3142;  // 地球短半轴
const double e = sqrt(1.0 - (b / a) * (b / a));  // 地球第一偏心率
const double f = 1.0 / 298.257223563;  // 地球扁率

// 定义向量结构体
typedef struct {
  double x;
  double y;
  double z;
} Vector;

// 定义四元数结构体
typedef struct {
  double w;
  double x;
  double y;
  double z;
} Quaternion;

// 姿态估计函数
void attitudeEstimation(Vector *accel, Vector *gyro, Quaternion *q, double timeInterval) {
  // 计算角加速度
  Vector gyroRate = {gyro->x * PI / 180, gyro->y * PI / 180, gyro->z * PI / 180};
  Vector gyroRateScaled = {gyroRate.x * timeInterval / 2.0, gyroRate.y * timeInterval / 2.0, gyroRate.z * timeInterval / 2.0};
  double gyroRateScaledNorm = sqrt(gyroRateScaled.x * gyroRateScaled.x + gyroRateScaled.y * gyroRateScaled.y + gyroRateScaled.z * gyroRateScaled.z);
  Quaternion dq = {cos(gyroRateScaledNorm), gyroRateScaled.x / gyroRateScaledNorm * sin(gyroRateScaledNorm), gyroRateScaled.y / gyroRateScaledNorm * sin(gyroRateScaledNorm), gyroRateScaled.z / gyroRateScaledNorm * sin(gyroRateScaledNorm)};
  
  // 更新四元数
  Quaternion qNew;
  qNew.w = q->w * dq.w - q->x * dq.x - q->y * dq.y - q->z * dq.z;
  qNew.x = q->w * dq.x + q->x * dq.w + q->y * dq.z - q->z * dq.y;
  qNew.y = q->w * dq.y - q->x * dq.z + q->y * dq.w + q->z * dq.x;
  qNew.z = q->w * dq.z + q->x * dq.y - q->y * dq.x + q->z * dq.w;
  *q = qNew;

  // 计算重力向量
  Vector gravity = {2.0 * (q->x * q->z - q->w * q->y), 2.0 * (q->w * q->x + q->y * q->z), q->w * q->w - q->x * q->x - q->y * q->y + q->z * q->z};
  double gravityNorm = sqrt(gravity.x * gravity.x + gravity.y * gravity.y + gravity.z * gravity.z);
  gravity.x /= gravityNorm;
  gravity.y /= gravityNorm;
  gravity.z /= gravityNorm;

  // 计算加速度向量
  Vector accelScaled = {accel->x * timeInterval, accel->y * timeInterval, accel->z * timeInterval};
  Vector accelCorrected = {accelScaled.x - gravity.x, accelScaled.y - gravity.y, accelScaled.z - gravity.z};
  double accelCorrectedNorm = sqrt(accelCorrected.x * accelCorrected.x + accelCorrected.y * accelCorrected.y + accelCorrected.z * accelCorrected.z);
  accelCorrected.x /= accelCorrectedNorm;
  accelCorrected.y /= accelCorrectedNorm;
  accelCorrected.z /= accelCorrectedNorm;

  // 计算航向角
  double roll = atan2(accelCorrected.y, accelCorrected.z);
  double pitch = atan2(-accelCorrected.x, sqrt(accelCorrected.y * accelCorrected.y + accelCorrected.z * accelCorrected.z));
  double yaw = atan2(sin(-gyroRate.x * timeInterval) * cos(pitch) * cos(yaw) + cos(-gyroRate.x * timeInterval) * sin(pitch) * cos(yaw) - sin(-gyroRate.y * timeInterval) * sin(yaw) + cos(-gyroRate.y * timeInterval) * sin(pitch) * sin(yaw) + sin(-gyroRate.z * timeInterval) * cos(pitch) * sin(yaw) + cos(-gyroRate.z * timeInterval) * cos(yaw), sin(-gyroRate.x * timeInterval) * cos(pitch) * sin(yaw) + cos(-gyroRate.x * timeInterval) * sin(pitch) * sin(yaw) + sin(-gyroRate.y * timeInterval) * cos(yaw) + cos(-gyroRate.y * timeInterval) * sin(pitch) * cos(yaw) + sin(-gyroRate.z * timeInterval) * cos(pitch) * cos(yaw) - cos(-gyroRate.z * timeInterval) * sin(yaw));
}

// GPS解算函数
void GPSPositioning(double lati, double longi, double *x, double *y) {
  double latiRad = lati * PI / 180;
  double longiRad = longi * PI / 180;
  double N = a / sqrt(1.0 - e * e * sin(latiRad) * sin(latiRad));
  *x = (N + 1.0) * cos(latiRad) * cos(longiRad);
  *y = (N + 1.0) * cos(latiRad) * sin(longiRad);
}

int main() {
  Vector accel = {0.0, 0.0, 0.0};  // 加速度向量
  Vector gyro = {0.0, 0.0, 0.0};  // 陀螺仪输出向量
  Quaternion q = {1.0, 0.0, 0.0, 0.0};  // 四元数
  double timeInterval = 0.0;  // 采样时间间隔
  double lati = 0.0;  // 纬度
  double longi = 0.0;  // 经度
  double x = 0.0;  // GPS解算得到的X坐标
  double y = 0.0;  // GPS解算得到的Y坐标

  // 获取传感器数据和GPS数据并进行姿态估计和GPS解算
  // ...

  // 输出姿态和位置信息
  printf("Roll: %f, Pitch: %f, Yaw: %f\n", q.x, q.y, q.z);
  printf("X: %f, Y: %f\n", x, y);

  return 0;
}

需要注意的是，在实际应用中，需要根据具体的传感器和GPS模块进行代码的修改和优化。