123 lines
4.8 KiB
C++
123 lines
4.8 KiB
C++
/******************** (C) COPYRIGHT 2022 Geek************************************
|
||
* File Name : AHRS.cpp
|
||
* Current Version : V1.0
|
||
* Author : logzhan
|
||
* Date of Issued : 2022.09.24
|
||
* Comments : PDR姿态解算
|
||
********************************************************************************/
|
||
/* Header File Including -----------------------------------------------------*/
|
||
#include <string.h>
|
||
#include <math.h>
|
||
#include "AHRS.h"
|
||
#include "Quaternion.h"
|
||
/* Macro Definition ----------------------------------------------------------*/
|
||
#define FLT_THRES 0.000001f // 浮点数最小阈值
|
||
#define ENABLE_MAG 0
|
||
/* Global Variable Definition ------------------------------------------------*/
|
||
AHRS_t Ahrs;
|
||
|
||
/**----------------------------------------------------------------------
|
||
* Function : AHRS_Init
|
||
* Description : AHRS初始化
|
||
* Date : 2022/09/21 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
void AHRS_Init()
|
||
{
|
||
memset(&Ahrs, 0, sizeof(Ahrs));
|
||
Ahrs.Kp = AHRS_KP;
|
||
Ahrs.Dt = 1.0f / AHRS_SAMPLE_FREQ;
|
||
Ahrs.q[0] = 1.0f;
|
||
}
|
||
|
||
/**---------------------------------------------------------------------
|
||
* Function : Vec3Norm
|
||
* Description : 三维浮点数向量归一化
|
||
* Date : 2022/11/1 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
void Vec3Norm(float* vx, float* vy, float* vz)
|
||
{
|
||
float norm = sqrtf(((*vx) * (*vx) + (*vy) * (*vy) +
|
||
(*vz) * (*vz)));
|
||
// 防止出现模为0的情况
|
||
if (norm > FLT_THRES) {
|
||
norm = 1 / norm;
|
||
(*vx) *= norm; (*vy) *= norm; (*vz) *= norm;
|
||
}
|
||
}
|
||
|
||
/**----------------------------------------------------------------------
|
||
* Function : MahonyUpdateAHRS
|
||
* Description : Mahony姿态更新算法
|
||
* Date : 2022/09/21 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
void MahonyUpdateAHRS(float gx, float gy, float gz, float ax, float ay, float az,
|
||
float mx, float my, float mz)
|
||
{
|
||
float* q = Ahrs.q;
|
||
// 归一化磁力计和加速度计
|
||
Vec3Norm(&ax, &ay, &az);
|
||
|
||
float wx = 0.0f, wy = 0.0f, wz = 0.0f;
|
||
|
||
#if ENABLE_MAG
|
||
if (!((mx == 0.0f) && (my == 0.0f) && (mz == 0.0f))) {
|
||
|
||
pdr_v3Norm(&mx, &my, &mz);
|
||
|
||
// 把磁场从载体系转换到地理坐标系 h = R^-1 * (mx,my,mz)
|
||
float hx = 2.0f * (mx * (0.5f - q2 * q2 - q[3] * q[3]) + my * (q[1] * q2 - q[0] * q[3]) + mz * (q[1] * q[3] + q[0] * q2));
|
||
float hy = 2.0f * (mx * (q[1] * q2 + q[0] * q[3]) + my * (0.5f - q[1] * q[1] - q[3] * q[3]) + mz * (q2 * q[3] - q[0] * q[1]));
|
||
float hz = 2.0f * (mx * (q[1] * q[3] - q[0] * q2) + my * (q2 * q[3] + q[0] * q[1]) + mz * (0.5f - q[1] * q[1] - q2 * q2));
|
||
|
||
// 理论上bx = 0, by 指向北向，因为手机IMU数据使用的是东北天(x,y,z)坐标系
|
||
float by = (float)sqrt(hx * hx + hy * hy);
|
||
float bz = hz;
|
||
|
||
wx = by * (q[0] * q[3] + q[1] * q2) + bz * (q[1] * q[3] - q[0] * q2);
|
||
wy = by * (0.5f - q[1] * q[1] - q[3] * q[3]) + bz * (q[0] * q[1] + q2 * q[3]);
|
||
wz = by * (q2 * q[3] - q[0] * q[1]) + bz * (0.5f - q[1] * q[1] - q2 * q2);
|
||
}
|
||
#endif
|
||
// 把重力转换到地理坐标系 v = R * (0,0,1)
|
||
float vx = q[1] * q[3] - q[0] * q[2];
|
||
float vy = q[0] * q[1] + q[2] * q[3];
|
||
float vz = q[0] * q[0] - 0.5f + q[3] * q[3];
|
||
|
||
// 计算矢量叉乘误差
|
||
float ex = ay * vz - az * vy + my * wz - mz * wy;
|
||
float ey = az * vx - ax * vz + mz * wx - mx * wz;
|
||
float ez = ax * vy - ay * vx + mx * wy - my * wx;
|
||
|
||
// Apply proportional feedback
|
||
gx += Ahrs.Kp * ex;
|
||
gy += Ahrs.Kp * ey;
|
||
gz += Ahrs.Kp * ez;
|
||
|
||
// 龙格库塔法更新四元数
|
||
float qa = q[0]; float qb = q[1]; float qc = q[2];
|
||
q[0] += (-qb * gx - qc * gy - q[3] * gz) * 0.5f * (Ahrs.Dt);
|
||
q[1] += (qa * gx + qc * gz - q[3] * gy) * 0.5f * (Ahrs.Dt);
|
||
q[2] += (qa * gy - qb * gz + q[3] * gx) * 0.5f * (Ahrs.Dt);
|
||
q[3] += (qa * gz + qb * gy - qc * gx) * 0.5f * (Ahrs.Dt);
|
||
|
||
// 四元数归一化
|
||
QuaternionNorm(&q[0], &q[1], &q[2], &q[3]);
|
||
|
||
// 四元数转欧拉角
|
||
Ahrs.Pitch = (float)asin(-2.0f * (q[3] * q[1] - q[0] * q[2])) * (180.0f / 3.141592f);
|
||
Ahrs.Yaw = (float)atan2(q[2] * q[1] + q[0] * q[3], 0.5f - q[2] * q[2] - q[3] * q[3]) * (180.0f / 3.141592f);
|
||
Ahrs.Roll = (float)atan2(q[2] * q[3] + q[0] * q[1], 0.5f - q[2] * q[2] - q[1] * q[1]) * (180.0f / 3.141592f);
|
||
}
|
||
|
||
/**----------------------------------------------------------------------
|
||
* Function : UpdateAHRS
|
||
* Description : AHRS融合解算
|
||
* Date : 2022/09/23 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
int UpdateAHRS(IMU_t* imu)
|
||
{
|
||
MahonyUpdateAHRS(imu->gyr.s[0], imu->gyr.s[1], imu->gyr.s[2],
|
||
imu->acc.s[0], imu->acc.s[1], imu->acc.s[2],
|
||
imu->mag.s[0], imu->mag.s[1], imu->mag.s[2]);
|
||
return PDR_TRUE;
|
||
} |