笔者最近在做四轴,涉及到地磁计的融合算法,网上大多数是x-IMU的融合代码,但是这段代码对于地磁计的融合说明没有做过多的解释,网上没有相关讨论,仅在阿莫论坛看到一篇相关的代码解释,里面有关于地磁计融合部分的解说,个人觉得说的不是很清楚,虽然是正确的,我这里再补充啰嗦一下。
首先给出x-IMU关于陀螺仪、加速度计、地磁计的融合代码:
void MahonyAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {
float recipNorm;
float q0q0, q0q1, q0q2, q0q3, q1q1, q1q2, q1q3, q2q2, q2q3, q3q3;
float hx, hy, bx, bz;
float halfvx, halfvy, halfvz, halfwx, halfwy, halfwz;
float halfex, halfey, halfez;
float qa, qb, qc;
// Use IMU algorithm if magnetometer measurement invalid (avoids NaN in magnetometer normalisation)
if((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f)) {
MahonyAHRSupdateIMU(gx, gy, gz, ax, ay, az);
return;
}
// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
// Normalise accelerometer measurement
recipNorm = invSqrt(ax * ax + ay * ay + az * az);
ax *= recipNorm;
ay *= recipNorm;
az *= recipNorm;
// Normalise magnetometer measurement
recipNorm = invSqrt(mx * mx + my * my + mz * mz);
mx *= recipNorm;
my *= recipNorm;
mz *= recipNorm;
// Auxiliary variables to avoid repeated arithmetic
q0q0 = q0 * q0;
q0q1 = q0 * q1;
q0q2 = q0 * q2;
q0q3 = q0 * q3;
q1q1 = q1 * q1;
q1q2 = q1 * q2;
q1q3 = q1 * q3;
q2q2 = q2 * q2;
q2q3 = q2 * q3;
q3q3 = q3 * q3;
// Reference direction of Earth's magnetic field
hx = 2.0f * (mx * (0.5f - q2q2 - q3q3) + my * (q1q2 - q0q3) + mz * (q1q3 + q0q2));
hy = 2.0f * (mx * (q1q2 + q0q3) + my * (0