陀螺仪和加速度的值通过卡尔曼滤波融合.求C程序

给你arduino的卡尔曼滤波融合算法,我只是封装了算法.

另外你这么难的问题应该给点分才厚道啊!

H文件：

/*

* KalmanFilter.h

* Non-original

* Author:x2d

* Copyright (c) 2012 China

*

*/

#ifndef KalmanFilter_h

#define KalmanFilter_h

#include

class KalmanFilter

{

public:

KalmanFilter()

/*

卡尔曼融合计算

angle_m:加速度计测量并通过atan2(ax,ay)方法计算得到的角度（弧度值）

gyro_m:陀螺仪测量的角速度值（弧度值）

dt:采样时间(s)

outAngle:卡尔曼融合计算出的角度（弧度值）

outAngleDot:卡尔曼融合计算出的角速度（弧度值）

*/

void getValue(double angle_m,double gyro_m,double dt,double &outAngle,double &outAngleDot)

private:

double C_0,Q_angle,Q_gyro,R_angle

double q_bias,angle_err,PCt_0,PCt_1,E,K_0,K_1,t_0,t_1

double angle,angle_dot

double P[2][2]

double Pdot[4]

}

CPP文件：

/*

* KalmanFilter.cpp

* Non-original

* Author:x2d

* Copyright (c) 2012 China

*

*/

#include "KalmanFilter.h"

KalmanFilter::KalmanFilter()

{

C_0 = 1.0f

Q_angle = 0.001f

Q_gyro = 0.003f

R_angle = 0.5f

q_bias = angle_err = PCt_0 = PCt_1 = E = K_0 = K_1 = t_0 = t_1 = 0.0f

angle = angle_dot = 0.0f

P[0][0] = 1.0f

P[0][1] = 0.0f

P[1][0] = 0.0f

P[1][1] = 1.0f

Pdot[0] = 0.0f

Pdot[1] = 0.0f

Pdot[2] = 0.0f

Pdot[3] = 0.0f

}

void KalmanFilter::getValue(double angle_m,double gyro_m,double dt,double &outAngle,double &outAngleDot)

{

/*

Serial.print("angle_m = ")

Serial.print(angle_m)

Serial.print("")

Serial.print("gyro_m = ")

Serial.print(gyro_m)

Serial.print("")

*/

angle+=(gyro_m-q_bias) * dt

angle_err = angle_m - angle

Pdot[0] = Q_angle - P[0][1] - P[1][0]

Pdot[1] = -P[1][1]

Pdot[2] = -P[1][1]

Pdot[3] = Q_gyro

P[0][0] += Pdot[0] * dt

P[0][1] += Pdot[1] * dt

P[1][0] += Pdot[2] * dt

P[1][1] += Pdot[3] * dt

PCt_0 = C_0 * P[0][0]

PCt_1 = C_0 * P[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 * P[0][1]

P[0][0] -= K_0 * t_0

P[0][1] -= K_0 * t_1

P[1][0] -= K_1 * t_0

P[1][1] -= K_1 * t_1

angle += K_0 * angle_err

q_bias += K_1 * angle_err

angle_dot = gyro_m-q_bias

outAngle = angle

outAngleDot = angle_dot

/*

Serial.print("angle = ")

Serial.print(angle)

Serial.print("")

Serial.print("angle_dot = ")

Serial.print(angle_dot)

Serial.print("")

*/

}

#endif

很简单，角度传感器有模拟和数字之分，模拟型（比如ADXL335,MMA7361）的只需要用AD采集X,Y,X三个方向的电压值值，然后经过公式计算出角度。数字型（比如ADX345L）按照IIC通信协议，可以直接从传感器内部读取出X,Y,Z三个方向的加速度，然后通过相应的公式计算出角度。

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