请问惯性传感器如何正确使用运动库

你好。
我正在尝试构建一个完整的运动传感器软件。我正在使用NUCLEO-F411RE和STM32F411RE，
SW4STM IDE，
LSM9DS1传感器带陀螺仪，加速度计和磁力计。为此，我使用MotionAC，MotionGC和MotionMC实现了X-CUBE-MEMS1库，用于传感器校准。我成功完成了陀螺仪校准，但我无法校准
加速度计和磁力计。 MotionMC库永远不会给我结果。 MotionAC有时给我结果，但仅在“动态校准”模式下，它们不是很准确。我正在做圆周运动试图用所有轴覆盖所有点的最大值。
定义：
＆amp; sharpdefine ADJUST_ACC_MG 0.061f //2range：0.061mg / LSB //来自数据表的价值

＆amp; sharpdefine ADJUST_ACC_G 0.000061f //2range：0.000061g / LSB
＆amp; sharpdefine ADJUST_GYR_MDPS 8.75f // 2455range：8.75mdps/LSB
＆amp; sharpdefine ADJUST_GYR_DPS 0.00875f // 2455range：0.00875dps/LSB
＆amp; sharpdefine ADJUST_MAG_MGAUSS 0.14f //4range：0.14mgauss / LSB
＆amp; sharpdefine ADJUST_MAG_UT 0.014f //4range：0.014uT/LSB&sharpdefine REPORT_INTERVAL 10

＆amp; sharpdefine SAMPLE_FREQUENCY_F 100.0fVariables：
SensorAxes_t ACC_Brute; //来自传感器的数据
SensorAxes_t GYR_Brute;
//来自传感器的数据

SensorAxes_t MAG_Brute; //来自传感器的数据

SensorAxesFloat_t ACC_Cal; //校准数据
SensorAxesFloat_t GYR_Cal; //校准数据

SensorAxesFloat_t MAG_Cal; //校准数据
uint32_t CounterStamp;
// MotionAC

MAC_input_t MAC_Input_Brute;
MAC_output_t MAC_Params; // MotionMC

MMC_Input_t MMC_Input_Brute;
MMC_Output_t MMC_Params;初始化：
// MotionMC

MotionMC_Initialize（REPORT_INTERVAL，1）;
每隔10ms由计时器调用：
CounterStamp ++;
// MotionAC
uint8_t is_calibrated = 0;

MAC_Input_Brute.TimeStamp = CounterStamp * REPORT_INTERVAL;
MAC_Input_Brute.Acc [0] = ACC_Brute.AXIS_X * ADJUST_ACC_G;
MAC_Input_Brute.Acc [1] = ACC_Brute.AXIS_Y * ADJUST_ACC_G;
MAC_Input_Brute.Acc [2] = ACC_Brute.AXIS_Z * ADJUST_ACC_G;
MotionAC_Update（＆amp; MAC_Input_Brute，＆amp; is_calibrated）;
MotionAC_GetCalParams（安培; MAC_Params）;
ACC_Cal.X =（MAC_Input_Brute.Acc [0] - MAC_Params.AccBias [0]）* MAC_Params.SF_Matrix [0] [0];
ACC_Cal.Y =（MAC_Input_Brute.Acc [1] - MAC_Params.AccBias [1]）* MAC_Params.SF_Matrix [1] [1];
ACC_Cal.Z =（MAC_Input_Brute.Acc [2] - MAC_Params.AccBias [2]）* MAC_Params.SF_Matrix [2] [2];
// MotionMC
MMC_Input_Brute.TimeStamp = CounterStamp * REPORT_INTERVAL;

MMC_Input_Brute.Mag [0] =（float）MAG_Brute.AXIS_X * ADJUST_MAG_UT;
MMC_Input_Brute.Mag [1] =（float）MAG_Brute.AXIS_Y * ADJUST_MAG_UT;
MMC_Input_Brute.Mag [2] =（浮动）MAG_Brute.AXIS_Z * ADJUST_MAG_UT;
MotionMC_Update（安培; MMC_Input_Brute）;
MotionMC_GetCalParams（＆amp; MMC_Params）; MAG_Cal.X =（（MMC_Input_Brute.Mag [0] - MMC_Params.HI_Bias [0]）* MMC_Params.SF_Matrix [0] [0]）

+（（MMC_Input_Brute.Mag [1] - MMC_Params.HI_Bias [1]）* MMC_Params.SF_Matrix [0] [1]）
+（（MMC_Input_Brute.Mag [2] - MMC_Params.HI_Bias [2]）* MMC_Params.SF_Matrix [0] [2]）;
MAG_Cal.Y =（（MMC_Input_Brute.Mag [0] - MMC_Params.HI_Bias [0]）* MMC_Params.SF_Matrix [1] [0]）
+（（MMC_Input_Brute.Mag [1] - MMC_Params.HI_Bias [1]）* MMC_Params.SF_Matrix [1] [1]）
+（（MMC_Input_Brute.Mag [2] - MMC_Params.HI_Bias [2]）* MMC_Params.SF_Matrix [1] [2]）;
MAG_Cal.Z =（（MMC_Input_Brute.Mag [0] - MMC_Params.HI_Bias [0]）* MMC_Params.SF_Matrix [2] [0]）
+（（MMC_Input_Brute.Mag [1] - MMC_Params.HI_Bias [1]）* MMC_Params.SF_Matrix [2] [1]）
+（（MMC_Input_Brute.Mag [2] - MMC_Params.HI_Bias [2]）* MMC_Params.SF_Matrix [2] [2]）;}
执行此校准需要什么？我也计划实现MotionTL，MotionEC和MotionFX。

亲切的问候，
Jonattan

#magnetometer #motionmc #accelerometer #calibration #mems #motionac



以下为原文




Hello.
I am trying to build a full motion sensor software. I am using the NUCLEO-F411RE with STM32F411RE,
SW4STM IDE,
LSM9DS1 sensor with gyroscope, accelerometer and magnetometer. For this, I implemented the X-CUBE-MEMS1 library with MotionAC, MotionGC and MotionMC for sensor calibration.I performed the gyroscope calibration successfully, but I could not calibrate the
accelerometer and magnetometer. The MotionMC library never gives me results. The MotionAC gives me results sometimes, but only in 'Dynamic Calibration' mode and they are not very accurate. I am doing circular motions trying to cover to the maximum all the points with all the axes.

Defines:
&sharpdefine ADJUST_ACC_MG          0.061f //2range:0.061mg/LSB   //VALUES FROM DATASHEET

&sharpdefine ADJUST_ACC_G             0.000061f //2range:0.000061g/LSB
&sharpdefine ADJUST_GYR_MDPS      8.75f //245range:8.75mdps/LSB
&sharpdefine ADJUST_GYR_DPS          0.00875f //245range:0.00875dps/LSB
&sharpdefine ADJUST_MAG_MGAUSS    0.14f //4range:0.14mgauss/LSB
&sharpdefine ADJUST_MAG_UT             0.014f //4range:0.014uT/LSB&sharpdefine REPORT_INTERVAL 10

&sharpdefine SAMPLE_FREQUENCY_F 100.0fVariables:
SensorAxes_t ACC_Brute; // Data from sensor
SensorAxes_t GYR_Brute;
// Data from sensor

SensorAxes_t MAG_Brute; // Data from sensor

SensorAxesFloat_t ACC_Cal; // Calibrated data
SensorAxesFloat_t GYR_Cal; // Calibrated data

SensorAxesFloat_t MAG_Cal; // Calibrated data
uint32_t CounterStamp;
//MotionAC

MAC_input_t MAC_Input_Brute;
MAC_output_t MAC_Params;//MotionMC

MMC_Input_t MMC_Input_Brute;
MMC_Output_t MMC_Params;Initialization:

• void Motion_Lib_Init()
  

• 
  

• {
  

• //MotionAC
  

• 
  

• &sharpdefine MOVE_THR_G 0.3f // Recommended between 0.15 - 0.30 g, higher value will relax condition but reduce the accuracy (moveThresh_g / 10)
  

• 
  

• MAC_calibration_mode_t CalibrationMode = DYNAMIC_CALIBRATION; // DYNAMIC_CALIBRATION or SIX_POINT_CALIBRATION
  

• 
  

• MAC_knobs_t KnobsAC;
  

• 
  

• MotionAC_Initialize(MAC_ENABLE_LIB);
  

• 
  

• MotionAC_GetKnobs(&KnobsAC);
  

• 
  

• KnobsAC.MoveThresh_g = MOVE_THR_G;
  

• 
  

• KnobsAC.Run6PointCal = (uint8_t) CalibrationMode;
  

• 
  

• KnobsAC.Sample_ms = REPORT_INTERVAL;
  

• 
  

• MotionAC_SetKnobs(&KnobsAC);
  

• 
  

//MotionMC

MotionMC_Initialize(REPORT_INTERVAL, 1);
}Called by timer every 10ms:
CounterStamp++;

//MotionAC
uint8_t is_calibrated = 0;

MAC_Input_Brute.TimeStamp = CounterStamp * REPORT_INTERVAL;
MAC_Input_Brute.Acc[0] = ACC_Brute.AXIS_X * ADJUST_ACC_G;
MAC_Input_Brute.Acc[1] = ACC_Brute.AXIS_Y * ADJUST_ACC_G;
MAC_Input_Brute.Acc[2] = ACC_Brute.AXIS_Z * ADJUST_ACC_G;
MotionAC_Update(&MAC_Input_Brute, &is_calibrated);
MotionAC_GetCalParams(&MAC_Params);
ACC_Cal.X = (MAC_Input_Brute.Acc[0] - MAC_Params.AccBias[0]) * MAC_Params.SF_Matrix[0][0];
ACC_Cal.Y = (MAC_Input_Brute.Acc[1] - MAC_Params.AccBias[1]) * MAC_Params.SF_Matrix[1][1];
ACC_Cal.Z = (MAC_Input_Brute.Acc[2] - MAC_Params.AccBias[2]) * MAC_Params.SF_Matrix[2][2];
//MotionMC
MMC_Input_Brute.TimeStamp = CounterStamp * REPORT_INTERVAL;

MMC_Input_Brute.Mag[0] = (float)MAG_Brute.AXIS_X * ADJUST_MAG_UT;
MMC_Input_Brute.Mag[1] = (float)MAG_Brute.AXIS_Y * ADJUST_MAG_UT;
MMC_Input_Brute.Mag[2] = (float)MAG_Brute.AXIS_Z * ADJUST_MAG_UT;
MotionMC_Update(&MMC_Input_Brute);
MotionMC_GetCalParams(&MMC_Params);MAG_Cal.X = ((MMC_Input_Brute.Mag[0] - MMC_Params.HI_Bias[0]) * MMC_Params.SF_Matrix[0][0])

+ ((MMC_Input_Brute.Mag[1] - MMC_Params.HI_Bias[1]) * MMC_Params.SF_Matrix[0][1])
+ ((MMC_Input_Brute.Mag[2] - MMC_Params.HI_Bias[2]) * MMC_Params.SF_Matrix[0][2]);
MAG_Cal.Y = ((MMC_Input_Brute.Mag[0] - MMC_Params.HI_Bias[0]) * MMC_Params.SF_Matrix[1][0])
+ ((MMC_Input_Brute.Mag[1] - MMC_Params.HI_Bias[1]) * MMC_Params.SF_Matrix[1][1])
+ ((MMC_Input_Brute.Mag[2] - MMC_Params.HI_Bias[2]) * MMC_Params.SF_Matrix[1][2]);
MAG_Cal.Z = ((MMC_Input_Brute.Mag[0] - MMC_Params.HI_Bias[0]) * MMC_Params.SF_Matrix[2][0])
+ ((MMC_Input_Brute.Mag[1] - MMC_Params.HI_Bias[1]) * MMC_Params.SF_Matrix[2][1])
+ ((MMC_Input_Brute.Mag[2] - MMC_Params.HI_Bias[2]) * MMC_Params.SF_Matrix[2][2]);}

What is necessary to perform this calibration? I plan to implement MotionTL, MotionEC and MotionFX too.



Kind regards,

Jonattan

#magnetometer #motionmc #accelerometer #calibration #mems #motionac