6轴和9轴的IMU姿态估计

传感器分析

加速度计航推使用场景

短时间且有先验模型可以做跟踪

This is made possible by zeroing velocity errors each time the foot is detected as stationary during each stride. An alternative scenario were position tracking may be possible is when the subject is engaged in cyclic motion; when the mean velocity and position are zero over a short period of time.

Oscillatory motion tracking with x-IMU – x-io Technologieshttps://x-io.co.uk/oscillatory-motion-tracking-with-x-imu/

磁力计

利用椭球拟合 和 点积不变法 相结合的方法

NXP传感器融合笔记09(地磁，干扰及校准，椭球拟合) - 知乎

todo:阅读以下两篇论文

Automatic Magnetometer Calibration with Small Space Coveragehttps://qspace.library.queensu.ca/handle/1974/8012Automatic magnetometer calibration with small space coverageAutomatic Magnetometer Calibration with Small Space Coverage

Compensation of Magnetic Disturbances Improves Inertial and Magnetic Sensing of Human Body Segment Orientation

GitHub - FENGZHANG123/NXP_sensor_fusion_study: NXP sensor fusion 方案学习https://github.com/FENGZHANG123/NXP_sensor_fusion_study搞磁力计公司的白皮书，靠，看得东西也太多了吧

White Papers - PNI Sensorhttps://www.pnicorp.com/white-papers/

备忘：

imu硬件选型：首页-北京超核电子科技有限公司-淘宝网淘宝, 店铺, 旺铺, 北京超核电子科技有限公司https://shop331861076.taobao.com/index.htm?spm=2013.1.w5002-24174070506.2.74545da2J8mbWG

NXP sensor fusion

NXP® Sensor Fusion_NXP 半导体https://www.nxp.com.cn/design/sensor-developer-resources/nxp-sensor-fusion:XTRSICSNSTLBOXX优化公式推导：

Optimal State Estimationhttps://academic.csuohio.edu/simond/estimation/

GitHub - FENGZHANG123/slam: learning SLAM,curse,paper and othershttps://github.com/FENGZHANG123/slam

 使用融合流程

https://cdn-learn.adafruit.com/downloads/pdf/how-to-fuse-motion-sensor-data-into-ahrs-orientation-euler-quaternions.pdfhttps://cdn-learn.adafruit.com/downloads/pdf/how-to-fuse-motion-sensor-data-into-ahrs-orientation-euler-quaternions.pdf

磁力计标定

GitHub - ankitemb/Magnetometer-Calibrationhttps://github.com/ankitemb/Magnetometer-Calibration

Magnetometer Calibration | Adafruit SensorLab - Magnetometer Calibration | Adafruit Learning Systemhttps://learn.adafruit.com/adafruit-sensorlab-magnetometer-calibration

2022.12.5

IMU的EKF数学模型相关：

PX4/PX4-ECL: Estimation & Control Library for Guidance, Navigation and Control Applications (github.com)

ArduPilot——AP_NavEKF3针对AP_NavEKF2做了哪些改进/变动？_慕~的博客-CSDN博客_ekf2和ekf3 InertialNav/models at master · priseborough/InertialNav (github.com)

ArduPilot/ardupilot: ArduPlane, ArduCopter, ArduRover, ArduSub source (github.com)

关于ardupilot、px4固件ekf的错误与tslam-v12-tekf对它的改进 - 知乎 (zhihu.com)