mahonyMATLAB
所属分类:数值算法/人工智能
开发工具:matlab
文件大小:556KB
下载次数:67
上传日期:2018-11-27 10:44:55
上 传 者:
大大是我
说明: 九轴传感器姿态解算方法(互补滤波和梯度下降法MATLAB)
(Attitude Solution Method of Nine Axis Sensor (Complementary Filtering and Gradient Decline Method MATLAB))
文件列表:
Cal_mag4acc_frame.m (3012, 2018-06-06)
EkfFilter.asv (2386, 2018-06-06)
EkfFilter.m (2381, 2018-06-06)
FindFixData.m (967, 2018-06-06)
HighLowPassFilter.m (2593, 2018-06-06)
ICRA2014_acc.m (1287, 2018-06-06)
ICRA_2014_gyro.m (2958, 2018-06-06)
ImuCalibration_Gesture.m (742, 2018-06-06)
MahonyFilter.m (1767, 2018-06-06)
See_Gesture.m (9026, 2018-06-06)
caldata.mat (595455, 2018-06-06)
mag2acc_matrix.m (1439, 2018-06-06)
#### 0.相关博客:
https://blog.csdn.net/shenshikexmu/article/details/80013444
#### 1.读入数据
load('calfata.mat')
#### 2.运行校正算法
[Ta,Ka,Ba,Tg,Kg,Bg,Tm2a,Bm,Vm,mag_strength]=ImuCalibration_Gesture(cal_data)
#### 3.校正部分
##### 加速度、角速度
conference **A Robust and Easy to implement method for imu calibration without External Equipments**
##### 磁力计
算法mag2acc_matrix假设重力与磁向量的夹角不变,算法Cal_mag4acc_frame利用不同姿态下传感器感受的磁通向量的变化与姿态变化的相关性,计算参数。
#### 4.参数部分
##### cal_acc=Ta*Ka*(raw_acc+Ba)
##### cal_gyro=Tg*Kg*(raw_gyro+Bg)
##### cal_mag=Tm2a*(raw_mag+Bm)
#### 5.姿态部分
##### Mahony filter
conference **Nonlinear Complementery Filters on the Special Orthogonal Group**
inspired by http://blog.csdn.net/luoshi006/article/details/51513580
##### EKF
derivation **A Double-Stage Kalman Filter for Orientation Tracking with an Integrated Processor in 9-D IMU**
##### high low pass
high and low pass filter to Gyro atitude with Accelerate & Magnetic
##### 滤波后的四元数
![滤波结果](https://img-blog.csdn.net/20180606120722833?watermark/2/text/aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NoZW5zaGlrZXhtdQ==/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/10)
##### 最后一帧姿态
![姿态融合算法](https://img-blog.csdn.net/2018052514541***43?watermark/2/text/aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3NoZW5zaGlrZXhtdQ==/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/10)
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