#include "pdrStatus.h" #include "footPDR.h" #include "system.h" #define GYR_BUFF_SIZE 3 //当地的重力加速度 float g = 9.8179995f; float dt = 0.01f; float P[81], acc_n[3]; float Temporary_array1[9], Temporary_array2[9]; float K[27], P_prev[81], delta_x[9]; float C[9], C_prev[9]; float vel_n[3], pos_n[3]; float last_pos_n[3]; float pos_offset[3]; int stand_num = 0; float gyr_extreme[6]; float gyr_mean[3]; float num_peak; float gyrBias[3]; uint32_t frame_index = 0; //重置磁航向，计算双脚的磁航向，以确定身体的正朝向 float heading_buff[20]; float zupt_heading; int step_index = 0; int32_t last_timestamp; //速度均值 float vel_sum; int dt_sum; float vel_mean; //计算触地持续采样点 int zupt_count; void set_pdr_status() { frame_index = 0; } void calVelMean(int zupt) { vel_mean = sqrt(vel_n[0] * vel_n[0] + vel_n[1] * vel_n[1] + vel_n[2] * vel_n[2]); } float getVelMean() { return vel_mean; } void saveStepData(int index, float heading) { heading_buff[index % 20] = heading; } float calDeltaHeading(int index, float now_heading) { //寻找相似的方向 int start_index = index - 20; if(start_index < 0) start_index = 0; float deltaHeading; for(int i = start_index; i < index; i++) { deltaHeading = now_heading - heading_buff[i % 20]; if(deltaHeading < -3.141591f) { deltaHeading = (deltaHeading + 6.2831852f); } else if(deltaHeading > 3.141591f) { deltaHeading = (deltaHeading - 6.2831852f); } if(fabsf(deltaHeading) < 0.0873f)//5/180*pi { return deltaHeading; } } return 99; } void calKafmanGain9x4(float *K, float *P) { float m_rever[4][4]; float m[4][4]; m[0][0] = P[20];m[0][1] = P[24];m[0][2] = P[25];m[0][3] = P[26]; m[1][0] = P[56];m[1][1] = P[60];m[1][2] = P[61];m[1][3] = P[62]; m[2][0] = P[65];m[2][1] = P[69];m[2][2] = P[70];m[2][3] = P[71]; m[3][0] = P[74];m[3][1] = P[78];m[3][2] = P[79];m[3][3] = P[80]; for(int i = 0; i < 4; i++) { m[i][i] += SIGMA_V * SIGMA_V; } //m[3][3] += 0.01f*0.01f; matrix_inverse(m, m_rever); K[0] = P[2] * m_rever[0][0] + P[6] * m_rever[1][0] + P[7] * m_rever[2][0] + P[8] * m_rever[3][0]; K[1] = P[2] * m_rever[0][1] + P[6] * m_rever[1][1] + P[7] * m_rever[2][1] + P[8] * m_rever[3][1]; K[2] = P[2] * m_rever[0][2] + P[6] * m_rever[1][2] + P[7] * m_rever[2][2] + P[8] * m_rever[3][2]; K[3] = P[2] * m_rever[0][3] + P[6] * m_rever[1][3] + P[7] * m_rever[2][3] + P[8] * m_rever[3][3]; K[4] = P[11] * m_rever[0][0] + P[15] * m_rever[1][0] + P[16] * m_rever[2][0] + P[17] * m_rever[3][0]; K[5] = P[11] * m_rever[0][1] + P[15] * m_rever[1][1] + P[16] * m_rever[2][1] + P[17] * m_rever[3][1]; K[6] = P[11] * m_rever[0][2] + P[15] * m_rever[1][2] + P[16] * m_rever[2][2] + P[17] * m_rever[3][2]; K[7] = P[11] * m_rever[0][3] + P[15] * m_rever[1][3] + P[16] * m_rever[2][3] + P[17] * m_rever[3][3]; K[8] = P[20] * m_rever[0][0] + P[24] * m_rever[1][0] + P[25] * m_rever[2][0] + P[26] * m_rever[3][0]; K[9] = P[20] * m_rever[0][1] + P[24] * m_rever[1][1] + P[25] * m_rever[2][1] + P[26] * m_rever[3][1]; K[10] = P[20] * m_rever[0][2] + P[24] * m_rever[1][2] + P[25] * m_rever[2][2] + P[26] * m_rever[3][2]; K[11] = P[20] * m_rever[0][3] + P[24] * m_rever[1][3] + P[25] * m_rever[2][3] + P[26] * m_rever[3][3]; K[12] = P[29] * m_rever[0][0] + P[33] * m_rever[1][0] + P[34] * m_rever[2][0] + P[35] * m_rever[3][0]; K[13] = P[29] * m_rever[0][1] + P[33] * m_rever[1][1] + P[34] * m_rever[2][1] + P[35] * m_rever[3][1]; K[14] = P[29] * m_rever[0][2] + P[33] * m_rever[1][2] + P[34] * m_rever[2][2] + P[35] * m_rever[3][2]; K[15] = P[29] * m_rever[0][3] + P[33] * m_rever[1][3] + P[34] * m_rever[2][3] + P[35] * m_rever[3][3]; K[16] = P[38] * m_rever[0][0] + P[42] * m_rever[1][0] + P[43] * m_rever[2][0] + P[44] * m_rever[3][0]; K[17] = P[38] * m_rever[0][1] + P[42] * m_rever[1][1] + P[43] * m_rever[2][1] + P[44] * m_rever[3][1]; K[18] = P[38] * m_rever[0][2] + P[42] * m_rever[1][2] + P[43] * m_rever[2][2] + P[44] * m_rever[3][2]; K[19] = P[38] * m_rever[0][3] + P[42] * m_rever[1][3] + P[43] * m_rever[2][3] + P[44] * m_rever[3][3]; K[20] = P[47] * m_rever[0][0] + P[51] * m_rever[1][0] + P[52] * m_rever[2][0] + P[53] * m_rever[3][0]; K[21] = P[47] * m_rever[0][1] + P[51] * m_rever[1][1] + P[52] * m_rever[2][1] + P[53] * m_rever[3][1]; K[22] = P[47] * m_rever[0][2] + P[51] * m_rever[1][2] + P[52] * m_rever[2][2] + P[53] * m_rever[3][2]; K[23] = P[47] * m_rever[0][3] + P[51] * m_rever[1][3] + P[52] * m_rever[2][3] + P[53] * m_rever[3][3]; K[24] = P[56] * m_rever[0][0] + P[60] * m_rever[1][0] + P[61] * m_rever[2][0] + P[62] * m_rever[3][0]; K[25] = P[56] * m_rever[0][1] + P[60] * m_rever[1][1] + P[61] * m_rever[2][1] + P[62] * m_rever[3][1]; K[26] = P[56] * m_rever[0][2] + P[60] * m_rever[1][2] + P[61] * m_rever[2][2] + P[62] * m_rever[3][2]; K[27] = P[56] * m_rever[0][3] + P[60] * m_rever[1][3] + P[61] * m_rever[2][3] + P[62] * m_rever[3][3]; K[28] = P[65] * m_rever[0][0] + P[69] * m_rever[1][0] + P[70] * m_rever[2][0] + P[71] * m_rever[3][0]; K[29] = P[65] * m_rever[0][1] + P[69] * m_rever[1][1] + P[70] * m_rever[2][1] + P[71] * m_rever[3][1]; K[30] = P[65] * m_rever[0][2] + P[69] * m_rever[1][2] + P[70] * m_rever[2][2] + P[71] * m_rever[3][2]; K[31] = P[65] * m_rever[0][3] + P[69] * m_rever[1][3] + P[70] * m_rever[2][3] + P[71] * m_rever[3][3]; K[32] = P[74] * m_rever[0][0] + P[78] * m_rever[1][0] + P[79] * m_rever[2][0] + P[80] * m_rever[3][0]; K[33] = P[74] * m_rever[0][1] + P[78] * m_rever[1][1] + P[79] * m_rever[2][1] + P[80] * m_rever[3][1]; K[34] = P[74] * m_rever[0][2] + P[78] * m_rever[1][2] + P[79] * m_rever[2][2] + P[80] * m_rever[3][2]; K[35] = P[74] * m_rever[0][3] + P[78] * m_rever[1][3] + P[79] * m_rever[2][3] + P[80] * m_rever[3][3]; } void calDeltaX9x4(float *K, float *measure, float *delta_x) { for(int i = 0; i < 9; i++) { delta_x[i] = 0.0f; for(int j = 0; j < 4; j ++) { delta_x[i] += (K[i * 4 + j] *measure[j]); } } } void calStateCov9x4(float *P, float *K) { static float P_copy[81]; for(int i = 0; i < 9; i++) { for(int j = 0; j < 9; j++) { P_copy[i * 9 + j] = K[i * 4] * P[18 + j] + K[i * 4 + 1] * P[54 + j] + K[i * 4 + 2] * P[63 + j] + K[i * 4 + 3] * P[72 + j]; } } for(int i = 0; i < 81 ; i ++) { P[i] -= P_copy[i]; } } float calHeading(float mag[3], float acc[3]) { float hSqrt; float eSqrt; float h[3]; //东向 h[0] = mag[1] * acc[2] - mag[2] * acc[1]; h[1] = mag[2] * acc[0] - mag[0] * acc[2]; h[2] = mag[0] * acc[1] - mag[1] * acc[0]; hSqrt = 1/sqrt(h[0] * h[0] + h[1] * h[1] + h[2] * h[2]); for(int i = 0; i < 3; i++) { h[i] *= hSqrt; } float e[3]; //北向 e[0] = acc[1] * h[2] - acc[2] * h[1]; e[1] = acc[2] * h[0] - acc[0] * h[2]; e[2] = acc[0] * h[1] - acc[1] * h[0]; eSqrt = 1/sqrt(e[0] * e[0] + e[1] * e[1] + e[2] * e[2]); for(int i = 0; i < 3; i++) { e[i] *= eSqrt; } return atan2(-h[1], e[1]); } void resetAttbyMag(float C[9], float acc[3], float mag[3]) { float accScale = sqrt(acc[0] * acc[0] + acc[1] * acc[1] + acc[2] * acc[2]); float pitch = asin(-acc[0]/accScale); float roll = atan2(acc[1], acc[2]); float pitch_sin = sin(pitch); float pitch_cos = cos(pitch); float roll_sin = sin(roll); float roll_cos = cos(roll); float mag_heading; C[0] = pitch_cos; C[1] = pitch_sin * roll_sin; C[2] = pitch_sin * roll_cos; C[3] = 0.0; C[4] = roll_cos; C[5] = -roll_sin; mag_heading = atan2(-C[4] * mag[1] - C[5] * mag[2], C[0] * mag[0] + C[1] * mag[1] + C[2] * mag[2]); float yaw_sin = sin(mag_heading); float yaw_cos = cos(mag_heading); C[0] = pitch_cos * yaw_cos; C[1] = pitch_sin * roll_sin * yaw_cos - roll_cos * yaw_sin; C[2] = pitch_sin * roll_cos * yaw_cos + roll_sin * yaw_sin; C[3] = pitch_cos * yaw_sin; C[4] = pitch_sin * roll_sin * yaw_sin + roll_cos * yaw_cos; C[5] = pitch_sin * roll_cos * yaw_sin - roll_sin * yaw_cos; C[6] = acc[0]; C[7] = acc[1]; C[8] = acc[2]; } void Initialize(float *gyr, float *acc) { stand_num = 0; memset(last_pos_n, 0, 3 * sizeof(float)); memset(pos_offset, 0, 3 * sizeof(float)); memset(P, 0, 81 * sizeof(float)); memset(acc_n, 0, 3 * sizeof(float)); memset(vel_n, 0, 3 * sizeof(float)); memset(pos_n, 0, 3 * sizeof(float)); memset(Temporary_array1, 0, 9 * sizeof(float)); memset(Temporary_array2, 0, 9 * sizeof(float)); memset(K, 0, 27 * sizeof(float)); memset(P_prev, 0, 81 * sizeof(float)); memset(delta_x, 0, 9 * sizeof(float)); memset(C, 0, 9 * sizeof(float)); memset(Temporary_array1, 0, 9 * sizeof(float)); memset(Temporary_array2, 0, 9 * sizeof(float)); init_attitude_matrix(C, acc, g); memcpy(C_prev, C, 9 * sizeof(float)); zupt_count = 0; // memcpy(gyrBias, (uint32_t *)FLASH_ADD, 3 * sizeof(float)); } void attitude_matrix_update(float *C, float *Temporary_array1, float *Temporary_array2, float *gyr, float dt) { Temporary_array1[0] = 2.0f; Temporary_array1[1] = dt * gyr[2]; Temporary_array1[2] = -dt * gyr[1]; Temporary_array1[3] = -dt * gyr[2]; Temporary_array1[4] = 2.0f; Temporary_array1[5] = dt * gyr[0]; Temporary_array1[6] = dt * gyr[1]; Temporary_array1[7] = -dt * gyr[0]; Temporary_array1[8] = 2.0f; invert3x3(Temporary_array1, Temporary_array2); memset(Temporary_array1, 0, 9 * sizeof(float)); Temporary_array1[0] = 2 * C[0] + C[1] * dt * gyr[2] - C[2] * dt * gyr[1]; Temporary_array1[1] = 2 * C[1] - C[0] * dt * gyr[2] + C[2] * dt * gyr[0]; Temporary_array1[2] = 2 * C[2] + C[0] * dt * gyr[1] - C[1] * dt * gyr[0]; Temporary_array1[3] = 2 * C[3] + C[4] * dt * gyr[2] - C[5] * dt * gyr[1]; Temporary_array1[4] = 2 * C[4] - C[3] * dt * gyr[2] + C[5] * dt * gyr[0]; Temporary_array1[5] = 2 * C[5] + C[3] * dt * gyr[1] - C[4] * dt * gyr[0]; Temporary_array1[6] = 2 * C[6] + C[7] * dt * gyr[2] - C[8] * dt * gyr[1]; Temporary_array1[7] = 2 * C[7] - C[6] * dt * gyr[2] + C[8] * dt * gyr[0]; Temporary_array1[8] = 2 * C[8] + C[6] * dt * gyr[1] - C[7] * dt * gyr[0]; multiply3x3(Temporary_array1, Temporary_array2, C); } float max_window_val(float *window, int window_size) { float val = window[0]; for (int i = 0; i < window_size; i++) { if (window[i] > val) val = window[i]; } return val; } int max_window_int(int *window, int window_size) { int val = window[0]; for (int i = 0; i < window_size; i++) { if (window[i] > val) val = window[i]; } return val; } float min_window_val(float *window, int window_size) { float val = window[0]; for (int i = 0; i < window_size; i++) { if (window[i] < val) val = window[i]; } return val; } int min_window_int(int *window, int window_size) { int val = window[0]; for (int i = 0; i < window_size; i++) { if (window[i] < val) val = window[i]; } return val; } //press_tren 函数功能：提供走路过程中上升沿，下降沿 //1 为上升 2 为 下降 0为不需要得状态 int press_trend(int index, int *window, int window_size) { int i; int max_val = window[(index - 1) % window_size]; int max_index = index; int min_val = max_val; int min_index = max_index; for (i = 1; i < window_size + 1; i++) { if (max_val < window[(index - i) % window_size]) { max_index = index - i + 1; max_val = window[(index - i) % window_size]; } if (min_val > window[(index - i) % window_size]) { min_index = index - i + 1; min_val = window[(index - i) % window_size]; } } if (max_index > min_index && max_val > min_val + 50000) { return 1; } if (max_index < min_index && max_val > min_val + 50000) { return 2; } return 0; } void dcm2angle(float *dcm, float *roll, float *pitch, float *yaw) { *yaw = atan2(dcm[3], dcm[0]); *pitch = asin(-dcm[6]); *roll = atan2(dcm[7], dcm[8]); } void quat2angleTest(float qin[4], float *roll, float *pitch, float *yaw) { //float r11 = qin[0] * qin[0] + qin[1] * qin[1] - qin[2] * qin[2] - qin[3] * qin[3]; float r11 = 2.0f * (qin[1] * qin[2] + qin[0] * qin[3]); //float r21 = 2.0f * (qin[1] * qin[2] - qin[0] * qin[3]); float r12 = qin[0] * qin[0] + qin[1] * qin[1] - qin[2] * qin[2] - qin[3] * qin[3]; float r21 = -2.0f * (qin[1] * qin[3] - qin[0] * qin[2]); float r31 = 2.0f * (qin[2] * qin[3] + qin[0] * qin[1]); float r32 = qin[0] * qin[0] - qin[1] * qin[1] - qin[2] * qin[2] + qin[3] * qin[3]; if (r21 < -0.999999999f) r21 = -1.0f; else if (r21 > 0.999999999f) r21 = 1.0f; *roll = atan2(r11, r12); *pitch = asin(r21); *yaw = atan2(r31, r32); } void dcm2angleTest(float C[9], short att[3]) { float yaw, pitch, roll; pitch = asin(-C[6]); if(C[6] > 0.999999f || C[6] < -0.999999f) { //当俯仰角为90度的时候，则假设翻滚角为0度 yaw = atan2(-C[1], C[4]); roll = 0.0f; } else { yaw = atan2(C[3], C[0]); roll = atan2(C[7], C[8]); } att[0] = (short)(yaw * 10000.f); //yaw att[1] = (short)(pitch * 10000.f); //pitch att[2] = (short)(roll * 10000.f); //roll } void quat2dcm(float *qin, float *dcm) { float qin_norm = 1 / sqrt(qin[0] * qin[0] + qin[1] * qin[1] + qin[2] * qin[2] + qin[3] * qin[3]); for (int i = 0; i < 4; i++) qin[i] *= qin_norm; dcm[0] = qin[0] * qin[0] + qin[1] * qin[1] - qin[2] * qin[2] - qin[3] * qin[3]; dcm[1] = 2.0f * (qin[1] * qin[2] + qin[0] * qin[3]); dcm[2] = 2.0f * (qin[1] * qin[3] - qin[0] * qin[2]); dcm[3] = 2.0f * (qin[1] * qin[2] - qin[0] * qin[3]); dcm[4] = qin[0] * qin[0] - qin[1] * qin[1] + qin[2] * qin[2] - qin[3] * qin[3]; dcm[5] = 2.0f * (qin[2] * qin[3] + qin[0] * qin[1]); dcm[6] = 2.0f * (qin[1] * qin[3] + qin[0] * qin[2]); dcm[7] = 2.0f * (qin[2] * qin[3] - qin[0] * qin[1]); dcm[8] = qin[0] * qin[0] - qin[1] * qin[1] - qin[2] * qin[2] + qin[3] * qin[3]; } void multiply3x3T(float *a, float *b, float* dst) { dst[0] = a[0] * b[0] + a[1] * b[1] + a[2] * b[2]; dst[1] = a[0] * b[3] + a[1] * b[4] + a[2] * b[5]; dst[2] = a[0] * b[6] + a[1] * b[7] + a[2] * b[8]; dst[3] = a[3] * b[0] + a[4] * b[1] + a[5] * b[2]; dst[4] = a[3] * b[3] + a[4] * b[4] + a[5] * b[5]; dst[5] = a[3] * b[6] + a[4] * b[7] + a[5] * b[8]; dst[6] = a[6] * b[0] + a[7] * b[1] + a[8] * b[2]; dst[7] = a[6] * b[3] + a[7] * b[4] + a[8] * b[5]; dst[8] = a[6] * b[6] + a[7] * b[7] + a[8] * b[8]; } void deltaAttMatrix(float C_prev[9], float C_now[9], float deltaC[9]) { //detaC = C_prev'* C; deltaC[0] = C_now[0] * C_prev[0] + C_now[3] * C_prev[3] + C_now[6] * C_prev[6]; deltaC[1] = C_now[1] * C_prev[0] + C_now[4] * C_prev[3] + C_now[7] * C_prev[6]; deltaC[2] = C_now[2] * C_prev[0] + C_now[5] * C_prev[3] + C_now[8] * C_prev[6]; deltaC[3] = C_now[0] * C_prev[1] + C_now[3] * C_prev[4] + C_now[6] * C_prev[7]; deltaC[4] = C_now[1] * C_prev[1] + C_now[4] * C_prev[4] + C_now[7] * C_prev[7]; deltaC[5] = C_now[2] * C_prev[1] + C_now[5] * C_prev[4] + C_now[8] * C_prev[7]; deltaC[6] = C_now[0] * C_prev[2] + C_now[3] * C_prev[5] + C_now[6] * C_prev[8]; deltaC[7] = C_now[1] * C_prev[2] + C_now[4] * C_prev[5] + C_now[7] * C_prev[8]; deltaC[8] = C_now[2] * C_prev[2] + C_now[5] * C_prev[5] + C_now[8] * C_prev[8]; } void normVector(float a[3]) { float norm = 1.0f/sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]); a[0] *= norm; a[1] *= norm; a[2] *= norm; } void resetUKF(float *UKF_Q, float UKF_P[4][4], float *mag_prev, float *mag, float *UKF_C, float *C) { memset(UKF_Q, 0, 4 * sizeof(float)); UKF_Q[0] = 1.0f; memcpy(mag_prev, mag, 3 * sizeof(float)); memcpy(UKF_C, C, 9 * sizeof(float)); for (int i = 0; i < 4; i++) for (int j = 0; j < 4; j++) { UKF_P[i][j] = 0.0f; } for (int i = 0; i < 4; i++) { UKF_P[i][i] = 0.0000001f; } } //利用陀螺仪的双极端盘判断是否在稳定的范围 int isStandCon(float gyr_extreme[6]) { DEBUG_LOG(" left_sh , gyr_extreme[1] - gyr_extreme[0] = %d\n",(int)((gyr_extreme[1] - gyr_extreme[0])*1000.f)); DEBUG_LOG(" left_sh , gyr_extreme[1] - gyr_extreme[0] = %d\n",(int)((gyr_extreme[3] - gyr_extreme[2])*1000.f)); DEBUG_LOG(" left_sh , gyr_extreme[1] - gyr_extreme[0] = %d\n",(int)((gyr_extreme[5] - gyr_extreme[4])*1000.f)); if(gyr_extreme[1] - gyr_extreme[0] < 0.02f && gyr_extreme[3] - gyr_extreme[2] < 0.02f && gyr_extreme[5] - gyr_extreme[4] < 0.02f) { return 1; } return 0; } void estimate_gyr_bias(float *gyr) { if (num_peak == 0) { for (int i = 0; i < 3; i++) { gyr_extreme[2 * i] = gyr[i]; gyr_extreme[2 * i + 1] = gyr[i]; } } for (int i = 0; i < 3; i++) { if (gyr[i] < gyr_extreme[2 * i]) { gyr_extreme[2 * i] = gyr[i]; } if (gyr[i] > gyr_extreme[2 * i + 1]) { gyr_extreme[2 * i + 1] = gyr[i]; } } for (int i = 0; i < 3; i++) { gyr_mean[i] += gyr[i]; } num_peak++; //在线估计陀螺仪的零偏， 6050的零偏偏大 if (num_peak == 300) { if (isStandCon(gyr_extreme)) { //识别每一次游戏模式下，静止状态的陀螺仪令零偏 for(int i = 0; i < 3; i++) { gyrBias[i] = gyr_mean[i] * 0.0033f; } DEBUG_LOG("gyrBias has cor!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n"); } num_peak = 0; memset(gyr_mean, 0, 3 * sizeof(float)); } } void estimate_gyr_bias_interface(int16_t *gyr, int sample_count) { static float gyr_f[3]; for(int i = 0; i < 3; i++) { gyr_f[i] = gyr[i] * 0.0010642251f; } if(sample_count == 0) { num_peak = 0; } estimate_gyr_bias(gyr_f); } unsigned char footPDR(int32_t num, float *gyr, float *acc, uint16_t front_press, int16_t zupt, int16_t acc_zero, int32_t* pos_res, int16_t* att) { unsigned char movement_e = 0; dt = (float)(num - last_timestamp) * 0.000001f; if(num - last_timestamp <= 0) { dt = 0.01f; } last_timestamp = num; for (int i = 0; i < 3; i++) { gyr[i] *= (PI / 180); acc[i] *= g; } //估计零偏 estimate_gyr_bias(gyr); gyr[0] -= gyrBias[0]; gyr[1] -= gyrBias[1]; gyr[2] -= gyrBias[2]; //下面为惯导解算 if (frame_index == 0) { Initialize(gyr, acc); frame_index = 1; DEBUG_LOG( "PDR INIT"); return movement_e; } //惯导解算: 姿态矩阵更新 attitude_matrix_update(C, Temporary_array1, Temporary_array2, gyr, dt); //惯导解算: 将IMU坐标系的加速度转换到“导航坐标系”下 multiply3x1(C, acc, acc_n); //惯导解算: 更新IMU速度 vel_n[0] = vel_n[0] + acc_n[0] * dt; vel_n[1] = vel_n[1] + acc_n[1] * dt; vel_n[2] = vel_n[2] + (acc_n[2] - g) * dt; //惯导解算: 更新IMU位置 pos_n[0] = pos_n[0] + vel_n[0] * dt; pos_n[1] = pos_n[1] + vel_n[1] * dt; pos_n[2] = pos_n[2] + vel_n[2] * dt; //ekf步骤: 状态协方差矩阵预测更新 //P = F*P*F' + Q; State_covariance_matrix_update(P, acc_n, dt); //zupt if (zupt == 1 || acc_zero == 1) { //ekf步骤: 计算卡尔曼滤波增益 //K = P*H'/(H*P*H' + R); calKafmanGain9x4(K, P); //ekf步骤: 观测误差更新 //delta_x = K * [vel_n(:,i);]; float measure[4]; //设置方向误差为0,意味着不要对heading进行修补 memset(measure, 0, 4 *sizeof(float)); measure[1] = vel_n[0]; measure[2] = vel_n[1]; measure[3] = vel_n[2]; calDeltaX9x4(K, measure, delta_x); //ekf步骤: 状态协方差矩阵观测更新 calStateCov9x4(P, K); //修正姿态矩阵 Att_matrix_corr(C, C_prev, Temporary_array1, Temporary_array2, delta_x); //修正位置 //pos_n_corr(pos_n, delta_x); //修正速度 vel_n_corr(vel_n, delta_x); // memset(vel_n, 0, 3 * sizeof(float)); //速度设置为0，因为滤波器收敛会导致轨迹有错误的振荡，实测直接设置为0也是可以的 float sub_vel[3]; if(zupt_count < 10) { for(int i = 0; i < 3; i++) { sub_vel[i] = (1.0f - zupt_count*0.1f)* vel_n[i]; vel_n[i] -= sub_vel[i]; } } if(zupt_count == 0) { memcpy(last_pos_n, pos_n, 3 * sizeof(float)); } zupt_count ++; } else { zupt_count = 0; } //状态协方差矩阵保持正交性，以防出现退化 State_covariance_matrix_orthogonalization(P); pos_offset[0] = pos_offset[0] + pos_n[0] - last_pos_n[0]; pos_offset[1] = pos_offset[1] + pos_n[1] - last_pos_n[1]; pos_offset[2] = pos_offset[2] + pos_n[2] - last_pos_n[2]; memcpy(last_pos_n, pos_n, 3 * sizeof(float)); dcm2angleTest(C, att); //航向角，俯仰角， 翻滚角（z y x） pos_res[0] = (int32_t) (pos_offset[0] * 1000.0f); pos_res[1] = (int32_t) (pos_offset[1] * 1000.0f); pos_res[2] = (int32_t) (pos_offset[2] * 1000.0f); return movement_e; }