299 lines
7.7 KiB
C
299 lines
7.7 KiB
C
/************************************************************************************************
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* 程序版本：V3.0
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* 程序日期：2022-11-3
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* 程序作者：
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************************************************************************************************/
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#include "Imu.h"
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#include "main.h"
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#define Kp_New 0.9f //互补滤波当前数据的权重
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#define Kp_Old 0.1f //互补滤波历史数据的权重
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#define Acc_Gain 0.0001220f //加速度变成G (初始化加速度满量程-+4g LSBa = 2*4/65535.0)
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#define Gyro_Gain 0.0609756f //角速度变成度 (初始化陀螺仪满量程+-2000 LSBg = 2*2000/65535.0)
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#define Gyro_Gr 0.0010641f //角速度变成弧度(3.1415/180 * LSBg)
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//kp=ki=0 就是完全相信陀螺仪
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#define Kp 1.5f // proportional gain governs rate of convergence to accelerometer/magnetometer
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//比例增益控制加速度计，磁力计的收敛速率
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#define Ki 0.005f // integral gain governs rate of convergence of gyroscope biases
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//积分增益控制陀螺偏差的收敛速度
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#define halfT 0.005f // half the sample period 采样周期的一半
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static volatile float q0 = 1, q1 = 0, q2 = 0, q3 = 0; // quaternion elements representing the estimated orientation
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static volatile float exInt = 0, eyInt = 0, ezInt = 0; // scaled integral error
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/*
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static float MedianValue(float *value_buf, unsigned int size)
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{
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unsigned int i,j;
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float temp;
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//排序采用冒泡法
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for (j=0;j<=size;j++){
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for (i=0;i<=size-j;i++){
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if (value_buf[i] > value_buf[i+1]){
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temp = value_buf[i];
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value_buf[i] = value_buf[i+1];
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value_buf[i+1] = temp;
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}
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}
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}
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return value_buf[(size-1)/2];
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}
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*/
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static float MedianValue(float *value_buf, unsigned int size)
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{
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unsigned int i;
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float temp = 0;
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for (i=0; i<size; i++)
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temp += value_buf[i];
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return temp/size;
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}
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static float Acc_Filter_X(float in_data)
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{
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static float value_buf[Imu_AccFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_AccFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_AccFilterSize);
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}
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static float Acc_Filter_Y(float in_data)
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{
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static float value_buf[Imu_AccFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_AccFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_AccFilterSize);
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}
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static float Acc_Filter_Z(float in_data)
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{
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static float value_buf[Imu_AccFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_AccFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_AccFilterSize);
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}
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static float Mag_Filter_X(float in_data)
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{
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static float value_buf[Imu_MagFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_MagFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_MagFilterSize);
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}
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static float Mag_Filter_Y(float in_data)
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{
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static float value_buf[Imu_MagFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_MagFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_MagFilterSize);
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}
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static float Mag_Filter_Z(float in_data)
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{
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static float value_buf[Imu_MagFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_MagFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_MagFilterSize);
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}
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static float Gyro_Filter_X(float in_data)
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{
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static float value_buf[Imu_GyroFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_GyroFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_GyroFilterSize);
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}
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static float Gyro_Filter_Y(float in_data)
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{
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static float value_buf[Imu_GyroFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_GyroFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_GyroFilterSize);
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}
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static float Gyro_Filter_Z(float in_data)
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{
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static float value_buf[Imu_GyroFilterSize] = {0};
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static unsigned char cnt = 0;
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value_buf[cnt] = in_data;
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cnt++;
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if (cnt>=Imu_GyroFilterSize)cnt=0;
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return MedianValue(value_buf, Imu_GyroFilterSize);
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}
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static float invSqrt(float x) {
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float halfx = 0.5f * x;
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float y = x;
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long i = *(long*)&y;
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i = 0x5f3759df - (i>>1);
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y = *(float*)&i;
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y = y * (1.5f - (halfx * y * y));
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return y;
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}
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static void IMUupdate(float gx, float gy, float gz, float ax, float ay, float az)
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{
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float vx, vy, vz;
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float ex, ey, ez;
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float norm;
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float q0q0 = q0*q0;
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float q0q1 = q0*q1;
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float q0q2 = q0*q2;
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float q0q3 = q0*q3;
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float q1q1 = q1*q1;
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float q1q2 = q1*q2;
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float q1q3 = q1*q3;
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float q2q2 = q2*q2;
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float q2q3 = q2*q3;
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float q3q3 = q3*q3;
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if(ax*ay*az==0)
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return;
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//加速度计<测量>的重力加速度向量(机体坐标系)
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norm = invSqrt(ax*ax + ay*ay + az*az);
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ax = ax * norm;
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ay = ay * norm;
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az = az * norm;
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// printf("ax=%0.2f ay=%0.2f az=%0.2f\r\n",ax,ay,az);
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//陀螺仪积分<估计>重力向量(机体坐标系)
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vx = 2*(q1q3 - q0q2); //矩阵(3,1)项
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vy = 2*(q0q1 + q2q3); //矩阵(3,2)项
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vz = q0q0 - q1q1 - q2q2 + q3q3 ; //矩阵(3,3)项
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//向量叉乘所得的值
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ex = (ay*vz - az*vy);
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ey = (az*vx - ax*vz);
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ez = (ax*vy - ay*vx);
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//用上面求出误差进行积分
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exInt = exInt + ex * Ki;
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eyInt = eyInt + ey * Ki;
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ezInt = ezInt + ez * Ki;
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//将误差PI后补偿到陀螺仪
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gx = gx + Kp*ex + exInt;
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gy = gy + Kp*ey + eyInt;
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gz = gz + Kp*ez + ezInt;//这里的gz由于没有观测者进行矫正会产生漂移，表现出来的就是积分自增或自减
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//四元素的微分方程
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q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
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q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;
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q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;
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q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;
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//单位化四元数
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norm = invSqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
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q0 = q0 * norm;
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q1 = q1 * norm;
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q2 = q2 * norm;
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q3 = q3 * norm;
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// 矩阵表达式
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// matrix[0] = q0q0 + q1q1 - q2q2 - q3q3; // 11
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// matrix[1] = 2.f * (q1q2 + q0q3); // 12
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// matrix[2] = 2.f * (q1q3 - q0q2); // 13
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// matrix[3] = 2.f * (q1q2 - q0q3); // 21
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// matrix[4] = q0q0 - q1q1 + q2q2 - q3q3; // 22
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// matrix[5] = 2.f * (q2q3 + q0q1); // 23
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// matrix[6] = 2.f * (q1q3 + q0q2); // 31
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// matrix[7] = 2.f * (q2q3 - q0q1); // 32
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// matrix[8] = q0q0 - q1q1 - q2q2 + q3q3; // 33
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//下一步是四元数转换成欧拉角(Z->Y->X)
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}
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#define ALPHA 0.01
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void IMU_Update(float *gy,float *acc, float *mag, RadDp Rad, DegDp Deg)
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{
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static volatile double Phi,Theta, Psi, Gz2, By2, Bz2, Bx3;
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volatile float Gyr[XYZ], Acc[XYZ], Mag[XYZ];
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Gyr[X] = gy[X];
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Gyr[Y] = gy[Y];
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Gyr[Z] = gy[Z];
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Acc[X] = acc[X];
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Acc[Y] = acc[Y];
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Acc[Z] = acc[Z];
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Mag[X] = -mag[X];
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Mag[Y] = -mag[Y];
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Mag[Z] = -mag[Z];
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// IMUupdate(Gyr[X], Gyr[Y], Gyr[Z], Acc[X], Acc[Y], Acc[Z]);
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// Phi = -atan2(2.f * q0*q1 + 2.f * q2*q3, 1 - 2.f * q1*q1 - 2.f * q2*q2);
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// Theta = -asin(2.f * (q0*q2 - q1*q3));
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// volatile float xh = Mag[0]*cos(Theta) + Mag[1]*sin(Phi)*sin(Theta) + Mag[2]*cos(Phi)*sin(Theta);
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// volatile float yh = Mag[1]*cos(Phi) - Mag[2]*sin(Phi);
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// Psi = atan2(yh, xh);
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Phi = atan2(Acc[Y], (Acc[Z] + Acc[X] * ALPHA));
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//Phi = atan2(Acc[Y], Acc[Z]);
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Gz2 = Acc[Y] * sin(Phi) + Acc[Z] * cos(Phi);
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Theta = atan(-Acc[X] / Gz2);
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By2 = Mag[Z] * sin(Phi) - Mag[Y] * cos(Phi);
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Bz2 = Mag[Y] * sin(Phi) + Mag[Z] * cos(Phi);
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Bx3 = Mag[X] * cos(Theta) + Bz2 * sin(Theta);
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Psi = atan2(By2, Bx3);
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Rad->roll = Phi;
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Rad->pitch = Theta;
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Rad->yaw = Psi;
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Deg->roll = Rad->roll * RAD_TO_DEG;
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Deg->pitch = Rad->pitch * RAD_TO_DEG;
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Deg->yaw = Rad->yaw * RAD_TO_DEG;
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}
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