liweiyan/shoe_mcu_2021_12_29/motion/trajAlgorithm/footPDR.c

#include "pdrStatus.h"
#include "footPDR.h"

//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;


void set_pdr_status()
{
	frame_index = 0;
}

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;
	}
	
	
	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));
	
//	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])
{
//	SEGGER_RTT_printf(0," left_sh , gyr_extreme[1] - gyr_extreme[0] = %d\n",(int)((gyr_extreme[1] - gyr_extreme[0])*1000.f));
//	SEGGER_RTT_printf(0," left_sh , gyr_extreme[1] - gyr_extreme[0] = %d\n",(int)((gyr_extreme[3] - gyr_extreme[2])*1000.f));
//	SEGGER_RTT_printf(0," 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] < 0.015f && gyr_extreme[3] - gyr_extreme[2] < 0.015f && gyr_extreme[5] - gyr_extreme[4] < 0.015f)
	{
		return 1;
	}
	
	return 0;
}


unsigned char footPDR(int32_t num, float *gyr, float *acc, int16_t front_zero, int16_t back_zero, 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;
	}
	

	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;
			}
//			SEGGER_RTT_printf(0,"gyrBias has cor!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\n");			
		

		}
		
		num_peak = 0;
		
		memset(gyr_mean, 0, 3 * sizeof(float));

	}

	gyr[0] -= gyrBias[0];
	gyr[1] -= gyrBias[1];
	gyr[2] -= gyrBias[2];

//	float gyr_norm_xyz = sqrt(gyr[0] * gyr[0] + gyr[1] * gyr[1] + gyr[2] * gyr[2]);
//	
//	float acc_norm_xyz = sqrt(acc[0] * acc[0] + acc[1] * acc[1] + acc[2] * acc[2]);
	

	//下面为惯导解算
	if (frame_index == 0)
	{
		Initialize(gyr, acc);
		
		frame_index = 1;
		
//		SEGGER_RTT_printf(0, "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);

//	int window_index = (frame_index - 1) % 10;

//	gyr_norm_window[window_index] = gyr_norm_xyz;
//	
//	acc_norm_window[window_index] = acc_norm_xyz;

	
	//zupt
	if (front_zero == 1 || back_zero == 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 now_heading =  atan2(C[3], C[0]);
		
		float measure[4];
		
		//计算理想的角度
		
		memset(measure, 0, 4 *sizeof(float));
		
		measure[0] = calDeltaHeading(step_index, now_heading);
			
		if(measure[0] > 10.0f)
		{
			measure[0] = 0;
		}

		
		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);

		//这里先从设置 delta_x(3) = atan2(C(2,1),C(1,1));
		//意味着每一步的参考方向是IMU X轴方向
//		delta_x[2] = atan2(C[3], C[0]);
//		theta = -1.7801 + atan2(C[3], C[0]);
//		theta = 0.0f;


		//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);
		
	
		
		if(back_zero == 1)
		{
			zupt_heading = now_heading;
			
			stand_num ++;
			
		}
		
		memcpy(last_pos_n, pos_n, 3 * sizeof(float));
		
	}
	else
	{
		//存放一步内记录的mag数据以及heading数据
		if(stand_num > 5)
		{
			
			saveStepData(step_index, zupt_heading);
			
			step_index ++;
		}
		
		stand_num = 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] * 100.0f);
	pos_res[1] = (int32_t) (pos_offset[1] * 100.0f);

	
	pos_res[2] = (int32_t) (pos_offset[2] * 100.0f);

	return movement_e;
}