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2015.12.12
void Kalman_Filter(float Gyro,float Accel)
{
Angle+=(Gyro - Q_bias) * dt;
Pdot[0]=Q_angle - PP[0][1] - PP[1][0];
Pdot[1]= - PP[1][1];
Pdot[2]= - PP[1][1];
Pdot[3]=Q_gyro;
PP[0][0] += Pdot[0] * dt;
PP[0][1] += Pdot[1] * dt;
PP[1][0] += Pdot[2] * dt;
PP[1][1] += Pdot[3] * dt;
Angle_err = Accel - Angle;
PCt_0 = C_0 * PP[0][0];
PCt_1 = C_0 * PP[1][0];
E = R_angle + C_0 * PCt_0;
K_0 = PCt_0 / E;
K_1 = PCt_1 / E;
t_0 = PCt_0;
t_1 = C_0 * PP[0][1];
PP[0][0] -= K_0 * t_0;
PP[0][1] -= K_0 * t_1;
PP[1][0] -= K_1 * t_0;
PP[1][1] -= K_1 * t_1;
Angle
+= K_0 * Angle_err;
Q_bias
+= K_1 * Angle_err;
Gyro_x = Gyro - Q_bias;
}