目录
原理讲解：
数据融合效果：
matlab代码：
角速度和加速度均为实测数据，其中角速度单位为“rad/s”，加速度为传感器原始数据在融合迭代过程中会进行归一化处理。
clear all;
close all
clc;
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3765.06 3762.9 3759.31 3762.48 3766.82 3768.47 3769.06 3768.65 3767.21 3768.86 3763.61 3763.44 3768.91 3768.85 3765.29 3764.04 3765.42 3771.41 3772.96 3754.97 3760.29 3758.99 3769.04 3767.84 3767.33 3769.24 3774.77 3772.22 3771.51 3777.29 3767.65 3766.03 3772.27 3779.58 3771.48 3774.5 3779.14 3772.18 3777.74 3776.98 3772.68 3765.46 3765.08 3767.25 3770.43 3769.5 3771.55 3771.06 3767.14 3769.74 3768.66 3764.49 3757.98 3761.54 3772.5 3775.47 3772.39 3762.5 3764.7 3763.29 3765.27 3765.15 3770.43 3772.76 3774.61 3773.66 3771.49 3761.09 3743.78 3749.69 3766.6 3782.32 3781.59 3779.99 3774.92 3762.46 3757.51 3753.08 3758.34 3768.35 3772.53 3773.06 3772.57 3762.49 3760.43 3767.54 3770.75 3765.99 3765.67 3769.36 3765.47 3758.5 3754.28 3760.22 3771.63 3772.2 3769.68 3775.34 3773.09 3771.52 3771.68 3771.09 3774.04 3765.49 3758.36 3763.53 3760.7 3767.62 3772.38 3769.55 3767.91 3769.78 3773.79 3776.16 3767.51 3768.43 3779.18 3779.33 3773.7 3777.78 3779.35 3780.55 3776.57 3773.25 3771.64 3776.65 3771.88 3773.87 3779.26 3770.72 3769.34 3769.89 3761.84 3764.95 3763.41 3763.22 3769.73 3780.1 3782.68 3778.51 3771.36 3771.42 3767.16 3762.21 3766.24 3765.01 3772.13 3782.17 3779.58 3772.81 3769.84 3772.14 3765.52 3765.75 3774.77 3774.34 3770.93 3766.99 3769.04 3769.02 3767.78 3769.78 3773 3769.61 3768.39 3766.28 3772.01 3770.12 3770.68 3765.96 3768.64 3771.59 3770.7 3770.47 3773.05 3768.21 3769.7 3769.97 3770.27 3771.39 3775.93 3774.09 3764.47 3770.63 3763.13 3768.7 3774.44 3773.62 3779.42 3778.15 3772.39 3777.54 3770.67 3760.81 3760.18 3764.76 3773.78 3769.19 3759.12 3760.21 3758.21 3759.47 3763.05 3775.43 3778.56 3781.33 3773.13 3778.24 3773.16 3769.52 3777.61 3771.92 3777.5 3765.14 3761.53 3757.49 3768.74 3766.56 3758.49 3767.92 3772.84 3767.65 3758.31 3765.1 3766.74 3769.53 3771.88 3770.24 3767.6 3779.44 3776.94 3778.56 3780.68 3778.53 3773.13 3778.18 3774.2 3766.92 3768.23 3764.19 3760.9 3756.81 3759.43 3761.15 3764.49 3769.73 3771.52 3769.94 3774.68 3770.45 3770.17 3771.19 3773.31 3771.25 3777.39 3777.85 3776.79 3784.53 3788.3 3777.71 3776.96 3775.22 3767.89 3774.69 3784.41 3785.86 3790.85 3781.09 3768.67 3769.85 3767.13 3770.57 3770.08 3779.66 3776.44 3770.71 3762.63 3759.06 3763.03 3778.29 3773.22 3759.5 3767.55 3765.87 3763.93 3766.24 3771.88 3772.4 3778.05 3779.95 3769.6 3767.73 3770.99 3769.96 3775.24 3776.46 3766.5 3766.1 3769.09 3769.47 3765.43 3765.43 3768.84 3772.74 3770.23 3743.87 3731.32 3559.37 3528.29 3552.15 3706.8 3866.02 3937.29 3820.35 3649.96 3617.82 3780.78 3932.34 3957.53 3881.21 3792.06 3777.32 3820.35 3870.31 3870.24 3826.98 3774.2 3744.67 3740.79 3737.28 3724.9 3720.5 3727.13 3746.99 3751.51 3747.02 3751.82 3753.68 3761.02 3775.23 3779.65 3773.43 3775.65 3776.85 3767.58 3783.59 3794.17 3807.56 3783.5 3779.49 3766.86 3768.59 3763.66 3760.85 3781.59 3789.96 3790.86 3788.29 3773.87 3765.85 3774.92 3805.1 3823.71 3809.47 3784.21 3780.08 3780.24 3780.12 3780.67 3789.82 3796.98 3783.35 3776.78 3773.66 3769.35 3783.14 3805.63 3823.97 3823.82 3836.22 3849.93 3841.83 3833.68 3819.3 3811.37 3792.42 3777.62 3767.67 3746.13 3746.41 3737.57 3756.54 3757.39 3774.36 3781.43 3796.99 3818.63 3826.05 3825.71 3841.67 3848.47 3861.96 3868.13 3868.16 3872.13 3892.78 3896 3890.05 3890.54 3897.33 3894.56 3901.33 3907.71 3903.06 3897.27 3894.82 3872.37 3858.45 3844.07 3846.66 3836.11 3862.52 3849.79 3832.8 3812.16 3801.45 3753.78 3736.73 3753.79 3723.59 3733.66 3705.07 3669.16 3644.44 3633.25 3636.73 3637.1 3640.37 3617.54 3642.7 3629.2 3636.51 3638.61 3629.78 3631.57 3641.3 3677.72 3649.32 3649.49 3666.51 3670.65 3681.86 3701.15 3684.56 3704.56 3692.7 3669.17 3649.12 3669.01 3639.75 3626.25 3633.14 3610.63 3581.04 3584.75 3542.97 3500.14 3453.09 3441.78 3437.81 3437.41 3405.94 3360.96 3281.7 3270.91 3252.21 3248.72 3194.49 3168.46 3128.92 3107.69 3107.59 3070.98 3043.26 3073.68 3051.17 3026.96 3047.45 3021.22 3046.81 3057.53 3068.47 3054.7 3039.98 3033.29 3057.51 3039.12 3008.65 3015.28 3020.37 2974.56 2998.08 2968.1 2930.39 2875.62 2842.88 2804.41 2800.57 2763.73 2752.42 2723.84 2723.93 2687.65 2645.61 2638.86 2619.47 2587 2583.12 2557.62 2520.33 2523.59 2499.17 2472.89 2452.1 2460.64 2449.24 2457.78 2459.63 2467.64 2480.54 2479.32 2490.74 2511.62 2515.55 2519.68 2532.93 2539.36 2541.7 2537.11 2538.16 2539.79 2536.6 2528.23 2503.64 2494.06 2487.93 2485.88 2479.91 2461.93 2444.46 2433.94 2424.97 2401.15 2390.74 2381.1 2366.09 2342.2 2333.4 2326.51 2321.69 2329.9 2343.57 2365.35 2399.86 2426.42 2453.71 2470.29 2473.09 2478.02 2473.87 2467.11 2447.2 2422.3 2402.43 2380.95 2367.24 2359.56 2357.88 2372.28 2375.09 2382.57 2398.79 2402.35 2419.01 2433.98 2450.49 2466.99 2480.47 2487.68 2481.67 2476.95 2468.95 2463.73 2465.48 2477.75 2489.59 2513.01 2540.44 2561.22 2553.47 2546.56 2536.38 2527.13 2520.37 2522.82 2534.28 2507.51 2464.7 2450.55 2436.66 2421.75 2407.7 2414.96 2426.01 2437.21 2445.02 2452.32 2465.36 2474.77 2472.83 2460.38 2444.23 2433.26 2422.73 2413.13 2409.33 2408.27 2420.13 2430.28 2462.2 2513.12 2576.39 2629.87 2662.99 2701.36 2718.89 2734.71 2730.66 2736.39 2733.7 2727.52 2731.94 2746.99 2761.71 2770.82 2791.65 2809.81 2821.34 2838.22 2844.03 2849.89 2844.78 2836.55 2815.19 2800.54 2790.33 2790.04 2784.57 2784.95 2799.87 2798.81 2817.84 2829.17 2835.52 2849.67 2872.09 2877.15 2894.88 2903.08 2902.2 2897.24 2896.26 2886.12 2889.77 2887.23 2926.6 2946.58 2990.44 3004.94 3017.29 3039.47 3056.29 3067.5 3101.9 3129.35 3180.64 3225.18 3261.47 3294.37 3305.71 3325.39 3347.08 3379.8 3408.72 3443.25 3451.12 3473.43 3495.41 3496.87 3496.51 3491.49 3488.67 3474.28 3475.14 3465.46 3454.76 3477.77 3475.53 3488.41 3500.5 3509.97 3524.6 3523.92 3506.73 3504.39 3512.63 3534.6 3551.97 3548.59 3573.19 3583.92 3589.21 3589.67 3586.1 3574.58 3555.89 3549.98 3553.29 3542.67 3542.97 3560.34 3590.31 3608.31 3636.38 3647 3658.66 3668.29 3693.9 3718.73 3756.68 3761.05 3786.29 3799.33 3774.77 3752.54 3758.78 3745.02 3722.72 3694.76 3707.14 3709.26 3723.08 3753.02 3885.47 4111.63 4523.21 4733.72 4539.83 4413.23 4299.15 4133.12 3996.21 3888.08 3839.52 3845.96 3893.2 3878 3849.23 3813.67 3760.87 3732.2 3737.7 3772.93 3788.76 3809.98 3800.6 3780.38 3766.15 3762.16 3784.35 3804.11 3820.54 3812.38 3784.43 3750.69 3734.01 3726.38 3721.18 3733.48 3747.11 3760.38 3751.58 3729.01 3719.57 3717.73 3721.27 3732.21 3746.35 3751.18 3746.66 3741.13 3742.68 3757.19 3770.49 3766.93 3775.78 3784.18 3777.73 3768.2 3766.54 3773.8 3774.18 3775.33 3779.8 3774.92 3779.36 3785.83 3788.21 3784.78 3784.97 3789.85 3780.86 3776.68 3775.98 3769.37 3765.18 3756.07 3758.41 3750.79 3743.14 3748.2 3761.44 3764.43 3764.28 3763.27 3768.2 3763.35 3758.67 3762.45 3760.23 3761.29 3764.03 3771.44 3780.71 3774 3768.27 3763.43 3751.97 3756.17 3758.91 3765.13 3757.59 3757.08 3752.48 3747.15 3758.05 3759.01 3779.08 3786.61 3783.45 3782.87 3779.36 3776.93 3777.48 3774.11 3781.8 3782.45 3774.4 3769.95 3768.17 3771.69 3771.47 3767.07 3758.09 3758.62 3759.27 3755.2 3760.36 3771.5 3770.04 3769.17 3770.36 3769.64 3769.95 3769.62 3770.91 3780.2 3776.64 3766.73 3776.22 3766.4 3772.88 3776.19 3774.4 3774.28 3776.57 3771.49 3771.55 3772.5 3766.35 3761.03 3762.94 3765.33 3766.86 3773.22 3768.2 3767.47 3760.04 3763.66 3759.34 3762.83 3764.34 3767.73 3771.93 3766.84 3762.68 3773.66 3779.24 3778.04 3776.39 3776.4 3781.88 3780.64 3776.1 3774.88 3773.7 3770.52 3767.67 3771.84 3765.8 3758.18 3757 3753.42 3749.13 3756.33 3755.53 3752.48 3744.12 3745.71 3759.06 3768.7 3770.33 3762.97 3757.44 3757.03 3755.92 3763.19 3764.87 3766.79 3767.61 3770.98 3780.38 3782.18 3790.24 3788.76 3781.73 3773.17 3771.8 3772.25 3775.99 3777.84 3767.07 3775.01 3779.11 3774.31 3770.23 3768.67 3769.94 3763.61 3763.44 3763.09 3760.33 3753.84 3753.89 3747.48 3746.8 3754.24 3764.17 3770.23 3762.86 3760.72 3765.08 3762.03 3769.38 3761.87 3761.38 3769.79 3774.1 3771.18 3770.46 3771.73 3774.37 3781.92 3779.82 3784.34 3781.21 3771.06 3771.9 3775.49 3775.89 3779.91 3777.84 3773.83 3781.51 3776.45 3770.14 3768.15 3767.38 3770.02 3771.25 3769.47 3774.07 3776.97 3782.75 3767.78 3760.14 3755.79 3757.9 3759.11 3771.45 3774.12 3756.11 3749.84 3746.68 3750.82 3764.96 3768.07 3763.18 3764.8 3761.52 3757.68 3755.17 3757.57 3758.51 3774.32 3771.44 3769.97 3766.58 3783.58 3783.3 3773.35 3765.63 3759.31 3762.75 3762.95 3763.81 3772.64 3776.32 3786.19 3785.36 3777.75 3768.48 3762.94 3771.45 3771.06 3770.12 3773.89 3774.2 3783 3788.19 3787.3 3793.37 3797.97 3788.68 3772.57 3773.66 3775.71 3783.52 3801.92 3819.68 3826.54 3813.62 3803.33 3808.33 3795.05 3794.52 3796.83 3797.69 3796.49 3828.74 3825.23 3807.35 3804.15 3802.62 3808.76 3821.38 3815.3 3807.12 3801.92 3803.48 3795.71 3793.07 3794.43 3785.3 3788.77 3803.93 3840.32 3888.63 3927.07 3958.19 3960.26 3939.35 3926.31 3901.72 3881.65 3815.07 3767.75 3775.77 3792.48 3797.57 3841.3 3892.14 3911.51 3922.56 3901.47 3891.99 3849.33 3846.57 3794.64 3754.44 3716.82 3685.39 3670.23 3664 3703.87 3748.85 3813.05 3908.17 3984.33 4039.62 4083.93 4062.08 4026.4 3976.73 3916.74 3877.7 3852.87 3820.81 3808.04 3790.38 3773.32 3786.79 3806.59 3800.61 3758.68 3681.68 3653.7 3657.52 3657.27 3680.27 3721.36 3716.13 3733.58 3725.42 3700 3703.72 3712.71 3726.12 3733.59 3732.71 3682.9 3591.28 3535.74 3514.05 3459.86 3383.63 3306.13 3275.07 3281.26 3291.26 3289.17 3296.5 3340.37 3393.06 3393.19 3385.24 3390.72 3390.02 3442.07 3491.7 3520.39 3477.15 3453.24 3441.1 3391.01 3370.76 3338.59 3302.22 3286.9 3260.35 3279.48 3247.47 3235.65 3174.49 3128.5 3073.97 3023.82 2976.62 2912.76 2865.36 2836.6 2794.86 2762.49 2758.74 2750.59 2754.11 2744.87 2774.74 2815.46 2868.51 2875.84 2864.97 2829.42 2780.01 2709.46 2685.36 2670.01 2675.63 2669.33 2680.56 2657.28 2615.76 2555.58 2505.23 2458.13 2448.25 2436.52 2449.06 2444.44 2446.89 2430.37 2411.54 2386 2358.67 2342.54 2374.08 2404.24 2460.41 2507.29 2533.71 2540.22 2521.73 2504.92 2487.68 2459.46 2446.01 2431.33 2433.87 2455.56 2445.31 2428.11 2412.1 2395.91 2379.92 2384.99 2387.6 2400.04 2406.06 2427.43 2441.01 2444.28 2457.14 2466.84 2453.99 2437.95 2435.71 2440.13 2440.29 2429.78 2397.92 2364.94 2330.92 2307.52 2295.05 2284.38 2269.8 2257.78 2257.53 2264.44 2264.92 2275.82 2276.18 2285.89 2289.73 2301.75 2316.37 2328.46 2344.39 2346.77 2360.03 2359.41 2361.61 2373.12 2398.92 2416.53 2418.6 2410.41 2401.68 2408.53 2442.89 2474.35 2488.6 2491.98 2473.53 2444.05 2414.87 2376.85 2344.71 2309.95 2276.65 2261.3 2244.75 2221.98 2196.98 2174.18 2174.98 2176.65 2183.2 2195.35 2253.01 2312.02 2362.22 2407.48 2456.22 2467.68 2463.34 2474.8 2465.13 2455.17 2435.31 2448.88 2440.88 2444.05 2458.91 2451.1 2467.77 2484.13 2513.03 2510.52 2502.5 2520.54 2514.43 2519.11 2523.33 2531.88 2544.55 2584.82 2608.04 2609.88 2613.25 2628.78 2640.25 2679.09 2743.72 2789.78 2811.41 2860.13 2899.73 2898.14 2938.13 2936.24 2871.02
];
%最终四元数的融合结果
Q_buf=zeros(4,length(ax));
%中间变量
dt=0.0025;%2.5ms
F=zeros(4,4);
H=zeros(3,4);
q=[0;0;0;1];
q_p=[0;0;0;1];
Z_p=[0;0;0];
Z=[0;0;0];
P=zeros(4,4);
Qs=0.0000001;
Q=[Qs ,0 ,0 ,0 ;
0 ,Qs ,0 ,0 ;
0 ,0 ,Qs ,0 ;
0 ,0 ,0 ,Qs ];
I=[1 ,0 ,0 ,0 ;
0 ,1 ,0 ,0 ;
0 ,0 ,1 ,0 ;
0 ,0 ,0 ,1 ];
Rs_a=1000;
R=[Rs_a ,0 ,0 ;
0 ,Rs_a ,0 ;
0 ,0 ,Rs_a ];
%扩展卡尔曼数据融合
for i=(1:length(ax))
%四元数更新雅克比矩阵及其转置矩阵计算
F(1,1)= 1 ;F(1,2)=-gx(i)*dt*0.5;F(1,3)=-gy(i)*dt*0.5;F(1,4)=-gz(i)*dt*0.5;%求F
F(2,1)=gx(i)*dt*0.5;F(2,2)= 1 ;F(2,3)= gz(i)*dt*0.5;F(2,4)=-gy(i)*dt*0.5;
F(3,1)=gy(i)*dt*0.5;F(3,2)=-gz(i)*dt*0.5;F(3,3)= 1 ;F(3,4)= gx(i)*dt*0.5;
F(4,1)=gz(i)*dt*0.5;F(4,2)= gy(i)*dt*0.5;F(4,3)=-gx(i)*dt*0.5;F(4,4)= 1 ;
F_t=F';%求F的转置F_t
%带误差的四元数更新
q_p=F*q;%预测q_p
%带误差的四元数单位化
norm=sqrt(q_p(1)*q_p(1)+q_p(2)*q_p(2)+q_p(3)*q_p(3)+q_p(4)*q_p(4));
q_p=q_p/norm;
%加速度向量向量预测
Z_p(1)=2*(q_p(2)*q_p(4)-q_p(1)*q_p(3));
Z_p(2)=2*(q_p(1)*q_p(2)+q_p(3)*q_p(4));
Z_p(3)=q_p(1)*q_p(1)-q_p(2)*q_p(2)-q_p(3)*q_p(3)+q_p(4)*q_p(4);
%预测量单位化
norm=sqrt(Z_p(1)*Z_p(1)+Z_p(2)*Z_p(2)+Z_p(3)*Z_p(3));
Z_p=Z_p/norm;
%预测量雅克比矩阵及其转置矩阵计算
H(1,1)=-2*q_p(3); H(1,2)= 2*q_p(4); H(1,3)=-2*q_p(1); H(1,4)= 2*q_p(2);%求H
H(2,1)= 2*q_p(2); H(2,2)= 2*q_p(1); H(2,3)= 2*q_p(4); H(2,4)= 2*q_p(3);
H(3,1)= 2*q_p(1); H(3,2)=-2*q_p(2); H(3,3)=-2*q_p(3); H(3,4)= 2*q_p(4);
H_t=H';%求H的转置H_t
%加速度观测量单位化
norm=sqrt(ax(i)*ax(i)+ay(i)*ay(i)+az(i)*az(i));
Z(1)=ax(i)/norm;
Z(2)=ay(i)/norm;
Z(3)=az(i)/norm;
%协方差矩阵预测
P_temp1=F*P;
P_temp2=P_temp1*F_t;
P_p=P_temp2+Q;
%计算卡尔曼增益矩阵
K_temp1=P_p*H_t; %求K
K_temp2=H*P_p;
K_temp3=K_temp2*H_t;
K_temp3=K_temp3+R;
K_temp3=inv(K_temp3);
K=K_temp1*K_temp3;
%更新协方差矩阵
P_temp1=K*H;
P_temp2=I-P_temp1;
P=P_temp2*P_p;
%四元数最优估计
Z_e=Z-Z_p; %观测量作差
q_e=K*Z_e; %计算误差
q=q_p+q_e; %最优估计
%最优四元数单位化
norm=sqrt(q(1)*q(1)+q(2)*q(2)+q(3)*q(3)+q(4)*q(4));
q=q/norm;
%结果保存
Q_buf(:,i)=q(:);
pitch(i)=57.3*sin(2*(q(3)*q(4)+q(1)*q(2)));
roll(i) =57.3*tan(2*(q(1)*q(3)-q(2)*q(4))/(q(1)*q(1)-q(2)*q(2)-q(3)*q(3)+q(4)*q(4)));
yaw(i) =57.3*tan(2*(q(2)*q(3)+q(1)*q(4))/(q(1)*q(1)+q(2)*q(2)-q(3)*q(3)-q(4)*q(4)));
end
%四元数绘制
figure();
plot(Q_buf(1,:));hold on;
plot(Q_buf(2,:));hold on;
plot(Q_buf(3,:));hold on;
plot(Q_buf(4,:));
title('四元数');
%欧拉角绘制
figure();
plot(pitch);hold on;
plot(roll);hold on;
plot(yaw);hold on;
title('欧拉角');飞控代码：
这里给出了Freertos系统中姿态解算任务代码，只需提供gx_org，gy_org，gz_org，ax_org，ay_org，az_org传感器数据即可（其中角速度单位为“rad/s”，加速度为传感器原始数据在融合迭代过程中会进行归一化处理），飞控融合效果如下。
//采样周期
static float32_t dt=0.0025;//2.5ms
//欧拉角
float pitch, roll, yaw;
//过程协方差矩阵
#define Qs 0.0000001
static arm_matrix_instance_f32 Q_matrix;
static float32_t Q[16]={Qs ,0 ,0 ,0 ,
0 ,Qs ,0 ,0 ,
0 ,0 ,Qs ,0 ,
0 ,0 ,0 ,Qs };
//观测协方差矩阵
#define Rs_a 1000
static arm_matrix_instance_f32 R_matrix;
static float32_t R[9]= {Rs_a ,0 ,0 ,
0 ,Rs_a ,0 ,
0 ,0 ,Rs_a };
//四阶单位矩阵
static arm_matrix_instance_f32 I_matrix;
static float32_t I[16]={1 ,0 ,0 ,0 ,
0 ,1 ,0 ,0 ,
0 ,0 ,1 ,0 ,
0 ,0 ,0 ,1 };
//四元数
static float32_t q[4]={1,0,0,0},q_p[4]={1,0,0,0},q_e[4]={0,0,0,0};
static arm_matrix_instance_f32 q_matrix ,q_p_matrix ,q_e_matrix;
//状态方程雅克比矩阵及其转置
static float32_t F[16], F_t[16];
static arm_matrix_instance_f32 F_matrix,F_t_matrix;
//观测值相关向量
static float32_t Z[3], Z_p[3], Z_e[3];
static arm_matrix_instance_f32 Z_matrix,Z_p_matrix,Z_e_matrix;
//观测方程雅克比矩阵及其转置
static float32_t H[12], H_t[12];
static arm_matrix_instance_f32 H_matrix,H_t_matrix;
//状态协方差相关矩阵
static float32_t P[16], P_p[16], P_temp1[16], P_temp2[16];
static arm_matrix_instance_f32 P_matrix,P_p_matrix,P_temp1_matrix,P_temp2_matrix;
//扩展卡尔曼增益相关矩阵
static float32_t K[12] ,K_temp1[12] ,K_temp2[12] ,K_temp3[9];
static arm_matrix_instance_f32 K_matrix,K_temp1_matrix,K_temp2_matrix,K_temp3_matrix;
//IMU任务
void imu_task(void * pvParameters)
{
float32_t norm;
float ax,ay,az,gx,gy,gz;
float gx_offset=0,gy_offset=0,gz_offset=0;
/*imu初始化*/
{
//过程协方差矩阵
Q_matrix.numRows=4;
Q_matrix.numCols=4;
Q_matrix.pData =Q;
//观测协方差矩阵
R_matrix.numRows=3;
R_matrix.numCols=3;
R_matrix.pData =R;
//四阶单位矩阵
I_matrix.numRows=4;
I_matrix.numCols=4;
I_matrix.pData =I;
//四元数状态向量及其预测向量
q_matrix.numRows=4; q_p_matrix.numRows=4; q_e_matrix.numRows=4;
q_matrix.numCols=1; q_p_matrix.numCols=1; q_e_matrix.numCols=1;
q_matrix.pData =q; q_p_matrix.pData =q_p; q_e_matrix.pData =q_e;
//状态方程雅克比矩阵及其转置
F_matrix.numRows=4; F_t_matrix.numRows=4;
F_matrix.numCols=4; F_t_matrix.numCols=4;
F_matrix.pData =F; F_t_matrix.pData =F_t;
//重力观测向量及观测量的预测向量
Z_matrix.numRows=3; Z_p_matrix.numRows=3; Z_e_matrix.numRows=3;
Z_matrix.numCols=1; Z_p_matrix.numCols=1; Z_e_matrix.numCols=1;
Z_matrix.pData =Z; Z_p_matrix.pData =Z_p; Z_e_matrix.pData =Z_e;
//观测方程雅克比矩阵及其转置
H_matrix.numRows=3; H_t_matrix.numRows=4;
H_matrix.numCols=4; H_t_matrix.numCols=3;
H_matrix.pData =H; H_t_matrix.pData =H_t;
//系统协方差矩阵及系统协方差预测矩阵
P_matrix.numRows=4; P_p_matrix.numRows=4; P_temp1_matrix.numRows=4; P_temp2_matrix.numRows=4;
P_matrix.numCols=4; P_p_matrix.numCols=4; P_temp1_matrix.numCols=4; P_temp2_matrix.numCols=4;
P_matrix.pData =P; P_p_matrix.pData =P_p; P_temp1_matrix.pData =P_temp1; P_temp2_matrix.pData =P_temp2;
//扩展卡尔曼增益
K_matrix.numRows=4; K_temp1_matrix.numRows=4; K_temp2_matrix.numRows=3; K_temp3_matrix.numRows=3;
K_matrix.numCols=3; K_temp1_matrix.numCols=3; K_temp2_matrix.numCols=4; K_temp3_matrix.numCols=3;
K_matrix.pData =K; K_temp1_matrix.pData =K_temp1;K_temp2_matrix.pData =K_temp2; K_temp3_matrix.pData =K_temp3;
//角速度零偏读取
for(int i=0;i<4000;i++)
{
gx_offset+=gx_org;
gy_offset+=gy_org;
gz_offset+=gz_org;
vTaskDelay(configTICK_RATE_HZ/400);
}
gx_offset/=4000.0f;
gy_offset/=4000.0f;
gz_offset/=4000.0f;
//加速度读取及单位化
arm_sqrt_f32 (ax_org*ax_org+ay_org*ay_org+az_org*az_org,&norm);//加速度读取及单位化
Z[0]=ax_org/norm;
Z[1]=ay_org/norm;
Z[2]=az_org/norm;
//初始俯仰翻滚角度计算
pitch=asinf(Z[1]);
roll=(Z[2]>0)?atanf(-Z[0]/Z[2]):atanf(-Z[0]/Z[2])+3.14159f;
yaw =0;
//初始四元数计算
q[0]=cos(pitch/2)*cos(roll/2)*cos(yaw/2) - sin(pitch/2)*sin(roll/2)*sin(yaw/2);
q[1]=cos(roll/2)*cos(yaw/2)*sin(pitch/2) + cos(pitch/2)*sin(roll/2)*sin(yaw/2);
q[2]=cos(pitch/2)*cos(yaw/2)*sin(roll/2) - cos(roll/2)*sin(pitch/2)*sin(yaw/2);
q[3]=cos(pitch/2)*cos(roll/2)*sin(yaw/2) + cos(yaw/2)*sin(pitch/2)*sin(roll/2);
}
/*imu更新(耗时140us)*/
while(1)
{
//读取传感器数据
gx=gx_org-gx_offset;
gy=gy_org-gy_offset;
gz=gz_org-gz_offset;
ax=ax_org;
ay=ay_org;
az=az_org;
//四元数更新雅克比矩阵及其转置矩阵计算
F[0] = 1 ;F[1] =-gx*dt*0.5f;F[2] =-gy*dt*0.5f;F[3] =-gz*dt*0.5f;//求F
F[4] =gx*dt*0.5f;F[5] = 1 ;F[6] = gz*dt*0.5f;F[7] =-gy*dt*0.5f;
F[8] =gy*dt*0.5f;F[9] =-gz*dt*0.5f;F[10]= 1 ;F[11]= gx*dt*0.5f;
F[12]=gz*dt*0.5f;F[13]= gy*dt*0.5f;F[14]=-gx*dt*0.5f;F[15]= 1 ;
arm_mat_trans_f32(&F_matrix,&F_t_matrix);//求F的转置F_t
//带误差的四元数更新
arm_mat_mult_f32(&F_matrix,&q_matrix,&q_p_matrix);//预测q_p
//带误差的四元数单位化
arm_sqrt_f32 (q_p[0]*q_p[0]+q_p[1]*q_p[1]+q_p[2]*q_p[2]+q_p[3]*q_p[3],&norm);
q_p[0]/=norm;
q_p[1]/=norm;
q_p[2]/=norm;
q_p[3]/=norm;
//加速度向量向量预测
Z_p[0]=2*(q_p[1]*q_p[3] -q_p[0]*q_p[2]); //重力加速度预测
Z_p[1]=2*(q_p[0]*q_p[1] +q_p[2]*q_p[3]);
Z_p[2]=q_p[0]*q_p[0] - q_p[1]*q_p[1] - q_p[2]*q_p[2] + q_p[3]*q_p[3];
//预测量单位化
arm_sqrt_f32 (Z_p[0]*Z_p[0]+Z_p[1]*Z_p[1]+Z_p[2]*Z_p[2],&norm); //单位化
Z_p[0]/=norm;
Z_p[1]/=norm;
Z_p[2]/=norm;
//预测量雅克比矩阵及其转置矩阵计算
H[0 ]=-2*q_p[2]; H[ 1]= 2*q_p[3]; H[ 2]=-2*q_p[0]; H[ 3]= 2*q_p[1];//求H
H[4 ]= 2*q_p[1]; H[ 5]= 2*q_p[0]; H[ 6]= 2*q_p[3]; H[ 7]= 2*q_p[2];
H[8 ]= 2*q_p[0]; H[ 9]=-2*q_p[1]; H[10]=-2*q_p[2]; H[11]= 2*q_p[3];
arm_mat_trans_f32(&H_matrix,&H_t_matrix);//求H的转置H_t
//加速度观测量单位化
arm_sqrt_f32 (ax*ax+ay*ay+az*az,&norm);
Z[0]=ax/norm;
Z[1]=ay/norm;
Z[2]=az/norm;
//协方差矩阵预测
arm_mat_mult_f32(&F_matrix,&P_matrix,&P_temp1_matrix);
arm_mat_mult_f32(&P_temp1_matrix,&F_t_matrix,&P_temp2_matrix);
arm_mat_add_f32(&P_temp2_matrix,&Q_matrix,&P_p_matrix);
//计算卡尔曼增益矩阵
arm_mat_mult_f32(&P_p_matrix,&H_t_matrix,&K_temp1_matrix); //求K
arm_mat_mult_f32(&H_matrix,&P_p_matrix,&K_temp2_matrix);
arm_mat_mult_f32(&K_temp2_matrix,&H_t_matrix,&K_temp3_matrix);
arm_mat_add_f32(&K_temp3_matrix,&R_matrix,&K_temp3_matrix);
arm_mat_inverse_f32(&K_temp3_matrix,&K_temp3_matrix);
arm_mat_mult_f32(&K_temp1_matrix,&K_temp3_matrix,&K_matrix);
//更新协方差矩阵
arm_mat_mult_f32(&K_matrix,&H_matrix,&P_temp1_matrix);
arm_mat_sub_f32(&I_matrix,&P_temp1_matrix,&P_temp2_matrix);
arm_mat_mult_f32(&P_temp2_matrix,&P_p_matrix,&P_matrix);
//四元数最优估计
arm_mat_sub_f32(&Z_matrix,&Z_p_matrix,&Z_e_matrix); //观测量作差
arm_mat_mult_f32(&K_matrix,&Z_e_matrix,&q_e_matrix);//计算误差
arm_mat_add_f32(&q_p_matrix,&q_e_matrix,&q_matrix); //最优估计
//单位化四元数
arm_sqrt_f32 (q[0]*q[0]+q[1]*q[1]+q[2]*q[2]+q[3]*q[3],&norm);
q[0]/=norm;
q[1]/=norm;
q[2]/=norm;
q[3]/=norm;
//四元数转欧拉角
pitch=57.3f*asinf (2*(q[2]*q[3]+q[0]*q[1]));
roll =57.3f*atan2f (2*(q[0]*q[2]-q[1]*q[3]),q[0]*q[0]-q[1]*q[1]-q[2]*q[2]+q[3]*q[3]);
yaw +=57.3f*dt*(gz_org-gz_offset);
//释放CPU使用权
vTaskDelay(configTICK_RATE_HZ/400);
}
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