硬件
STM32F10X,MPU9250(MPU6500+AK8963);
融合算法
https://github.com/kriswiner/EM7180_SENtral_sensor_hub/wiki/K.-Limits-of-Absolute-Heading-Accuracy-Using-Inexpensive-MEMS-Sensorshttps://github.com/kriswiner/EM7180_SENtral_sensor_hub/wiki/K.-Limits-of-Absolute-Heading-Accuracy-Using-Inexpensive-MEMS-SensorsHome · BjarneBitscrambler/OrientationSensorFusion-ESP Wiki · GitHubhttps://github.com/BjarneBitscrambler/OrientationSensorFusion-ESP/wikihttps://github.com/kriswiner/MPU6050/wiki/Affordable-9-DoF-Sensor-Fusionhttps://github.com/kriswiner/MPU6050/wiki/Affordable-9-DoF-Sensor-FusionUltimate Sensor Fusion Solution - MPU9250 from Pesky Products on Tindiehttps://www.tindie.com/products/onehorse/ultimate-sensor-fusion-solution-mpu9250/
Heading angle estimation using rotating magnetometer for mobile
robots under environmental magnetic disturbances
算法调试
基于开源的Madgwick filter,要求输入数据转化成以NED坐标系为表示的加速度、陀螺仪、磁力计数据(convention(aN, aE, aD, gN, gE, gD, mN, mE, mD)
从MPU9250的DataSheet可知,坐标系关系如下:
但实际测试后的坐标系关系却如下:
因此转化以NED坐标系表示的结果如下:
如果要把NED后的pitch,roll,yaw转成以ENU坐标系下的话,请参考:
基础资料: