DCM-IMU 开源项目教程

DCM-IMU 开源项目教程

dcm-imuThe DCM-IMU algorithm is designed for fusing low-cost triaxial MEMS gyroscope and accelerometer measurements. An extended Kalman filter is used to estimate attitude in direction cosine matrix (DCM) formation and gyroscope biases online. A variable measurement covariance method is implemented for acceleration measurements to ensure robustness against temporarily non-gravitational accelerations which usually induce errors to attitude estimate in ordinary IMU-algorithms. The code and data will be added after related scientific work is published and open source publication is approved.项目地址:https://gitcode.com/gh_mirrors/dc/dcm-imu

1. 项目的目录结构及介绍

DCM-IMU 项目的目录结构如下：

dcm-imu/
├── data/
│   └── ...
├── docs/
│   └── ...
├── src/
│   ├── main.cpp
│   ├── config.h
│   └── ...
├── tests/
│   └── ...
├── LICENSE
├── README.md
└── .gitignore

目录介绍：

• data/: 存放项目所需的数据文件。
• docs/: 存放项目的文档文件。
• src/: 存放项目的源代码文件。
• tests/: 存放项目的测试代码文件。
• LICENSE: 项目的许可证文件。
• README.md: 项目的说明文档。
• .gitignore: 指定 Git 版本控制系统忽略的文件和目录。

2. 项目的启动文件介绍

项目的启动文件位于 src/main.cpp。该文件是整个项目的主入口，负责初始化系统、加载配置文件并启动主要功能模块。

main.cpp 主要功能：

• 初始化日志系统
• 加载配置文件
• 初始化传感器接口
• 启动数据处理循环

3. 项目的配置文件介绍

项目的配置文件位于 src/config.h。该文件定义了项目运行所需的各种配置参数，包括传感器参数、数据路径、日志级别等。

config.h 主要配置项：

• 传感器参数: 定义传感器的类型、采样率等。
• 数据路径: 指定数据文件的存储路径。
• 日志级别: 设置日志输出的详细程度。
• 其他配置项: 根据项目需求定义的其他配置参数。

通过修改 config.h 文件中的参数，可以灵活调整项目的运行行为。

dcm-imuThe DCM-IMU algorithm is designed for fusing low-cost triaxial MEMS gyroscope and accelerometer measurements. An extended Kalman filter is used to estimate attitude in direction cosine matrix (DCM) formation and gyroscope biases online. A variable measurement covariance method is implemented for acceleration measurements to ensure robustness against temporarily non-gravitational accelerations which usually induce errors to attitude estimate in ordinary IMU-algorithms. The code and data will be added after related scientific work is published and open source publication is approved.项目地址:https://gitcode.com/gh_mirrors/dc/dcm-imu