经测试，在 STM32上面可以用的卡尔曼滤波程序，效果的话，有一定的滤波效果，大家拿去参考吧
还有我现在学习姿态解算找到的，德国的AHRS姿态解算源码，很有参考价值
- /*
- * AHRS
- * Copyright 2010 S.O.H. Madgwick
- *
- * This program is free software: you can redistribute it and/or
- * modify it under the terms of the GNU Lesser Public License as
- * published by the Free Software Foundation, either version 3 of the
- * License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * Lesser Public License for more details.
- *
- * You should have received a copy of the GNU Lesser Public License
- * along with this program. If not, see
- * .
- */
- // AHRS.c
- // S.O.H. Madgwick
- // 25th August 2010
- //
- // Quaternion implementation of the 'DCM filter' [Mayhony et al]. Incorporates the magnetic distortion
- // compensation algorithms from my filter [Madgwick] which eliminates the need for a reference
- // direction of flux (bx bz) to be predefined and limits the effect of magnetic distortions to yaw
- // axis only.
- //
- // User must define 'halfT' as the (sample period / 2), and the filter gains 'Kp' and 'Ki'.
- //
- // Global variables 'q0', 'q1', 'q2', 'q3' are the quaternion elements representing the estimated
- // orientation. See my report for an overview of the use of quaternions in this application.
- //
- // User must call 'AHRSupdate()' every sample period and parse calibrated gyroscope ('gx', 'gy', 'gz'),
- // accelerometer ('ax', 'ay', 'ay') and magnetometer ('mx', 'my', 'mz') data. Gyroscope units are
- // radians/second, accelerometer and magnetometer units are irrelevant as the vector is normalised.
- //
-
- #include "stm32f10x.h"
- #include "AHRS.h"
- #include "Positioning.h"
- #include
- #include
- /* Private define ------------------------------------------------------------*/
- #define Kp 2.0f // proportional gain governs rate of convergence to accelerometer/magnetometer
- #define Ki 0.005f // integral gain governs rate of convergence of gyroscope biases
- #define halfT 0.0025f // half the sample period : 0.005s/2=0.0025s
- #define ACCEL_1G 1000 //the acceleration of gravity is: 1000 mg
- /* Private variables ---------------------------------------------------------*/
- static float q0 = 1, q1 = 0, q2 = 0, q3 = 0; // quaternion elements representing the estimated orientation
- static float exInt = 0, eyInt = 0, ezInt = 0; // scaled integral error
- /* Public variables ----------------------------------------------------------*/
- EulerAngle_Type EulerAngle; //unit: radian
- u8 InitEulerAngle_Finished = 0;
- float Magnetoresistor_mGauss_X = 0, Magnetoresistor_mGauss_Y = 0, Magnetoresistor_mGauss_Z = 0;//unit: milli-Gauss
- float Accelerate_mg_X, Accelerate_mg_Y, Accelerate_mg_Z;//unit: mg
- float AngularRate_dps_X, AngularRate_dps_Y, AngularRate_dps_Z;//unit: dps: degree per second
- int16_t Magnetoresistor_X, Magnetoresistor_Y, Magnetoresistor_Z;
- uint16_t Accelerate_X = 0, Accelerate_Y = 0, Accelerate_Z = 0;
- uint16_t AngularRate_X = 0, AngularRate_Y = 0, AngularRate_Z = 0;
- u8 Quaternion_Calibration_ok = 0;
- /* Private macro -------------------------------------------------------------*/
- /* Private typedef -----------------------------------------------------------*/
- /* Private function prototypes -----------------------------------------------*/
- /*******************************************************************************
- * Function Name : AHRSupdate
- * Description : None
- * Input : None
- * Output : None
- * Return : None
- *******************************************************************************/
- void AHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) {
- float norm;
- float hx, hy, hz, bx, bz;
- float vx, vy, vz, wx, wy, wz;
- float ex, ey, ez;
- // auxiliary variables to reduce number of repeated operations
- float q0q0 = q0*q0;
- float q0q1 = q0*q1;
- float q0q2 = q0*q2;
- float q0q3 = q0*q3;
- float q1q1 = q1*q1;
- float q1q2 = q1*q2;
- float q1q3 = q1*q3;
- float q2q2 = q2*q2;
- float q2q3 = q2*q3;
- float q3q3 = q3*q3;
-
- // normalise the measurements
- norm = sqrt(ax*ax + ay*ay + az*az);
- ax = ax / norm;
- ay = ay / norm;
- az = az / norm;
- norm = sqrt(mx*mx + my*my + mz*mz);
- mx = mx / norm;
- my = my / norm;
- mz = mz / norm;
-
- // compute reference direction of flux
- hx = 2*mx*(0.5 - q2q2 - q3q3) + 2*my*(q1q2 - q0q3) + 2*mz*(q1q3 + q0q2);
- hy = 2*mx*(q1q2 + q0q3) + 2*my*(0.5 - q1q1 - q3q3) + 2*mz*(q2q3 - q0q1);
- hz = 2*mx*(q1q3 - q0q2) + 2*my*(q2q3 + q0q1) + 2*mz*(0.5 - q1q1 - q2q2);
- bx = sqrt((hx*hx) + (hy*hy));
- bz = hz;
-
- // estimated direction of gravity and flux (v and w)
- vx = 2*(q1q3 - q0q2);
- vy = 2*(q0q1 + q2q3);
- vz = q0q0 - q1q1 - q2q2 + q3q3;
- wx = 2*bx*(0.5 - q2q2 - q3q3) + 2*bz*(q1q3 - q0q2);
- wy = 2*bx*(q1q2 - q0q3) + 2*bz*(q0q1 + q2q3);
- wz = 2*bx*(q0q2 + q1q3) + 2*bz*(0.5 - q1q1 - q2q2);
-
- // error is sum of cross product between reference direction of fields and direction measured by sensors
- ex = (ay*vz - az*vy) + (my*wz - mz*wy);
- ey = (az*vx - ax*vz) + (mz*wx - mx*wz);
- ez = (ax*vy - ay*vx) + (mx*wy - my*wx);
-
- // integral error scaled integral gain
- exInt = exInt + ex*Ki;
- eyInt = eyInt + ey*Ki;
- ezInt = ezInt + ez*Ki;
-
- // adjusted gyroscope measurements
- gx = gx + Kp*ex + exInt;
- gy = gy + Kp*ey + eyInt;
- gz = gz + Kp*ez + ezInt;
-
- // integrate quaternion rate and normalise
- q0 = q0 + (-q1*gx - q2*gy - q3*gz)*halfT;
- q1 = q1 + (q0*gx + q2*gz - q3*gy)*halfT;
- q2 = q2 + (q0*gy - q1*gz + q3*gx)*halfT;
- q3 = q3 + (q0*gz + q1*gy - q2*gx)*halfT;
-
- // normalise quaternion
- norm = sqrt(q0*q0 + q1*q1 + q2*q2 + q3*q3);
- q0 = q0 / norm;
- q1 = q1 / norm;
- q2 = q2 / norm;
- q3 = q3 / norm;
- }
- float clamp(float Value, float Min, float Max)
- {
- if(Value > Max)
- {
- return Max;
- }else if(Value < Min)
- {
- return Min;
- }else
- {
- return Value;
- }
- }
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