Arduino_MPU6050卡尔曼滤波代码.rar

#include "Wire.h" #include "I2Cdev.h" #include "MPU6050.h" MPU6050 accelgyro; unsigned long now, lastTime = 0; float dt; //微分时间 int16_t ax, ay, az, gx, gy, gz; //加速度计陀螺仪原始数据 float aax=0, aay=0, agx=0, agy=0, agz=0; //角度变量 long axo = 0, ayo = 0, azo = 0; //加速度计偏移量 long gxo = 0, gyo = 0, gzo = 0; //陀螺仪偏移量 float pi = 3.1415926; float AcceRatio = 16384.0; //加速度计比例系数 float GyroRatio = 131.0; //陀螺仪比例系数 uint8_t n_sample = 8; //加速度计滤波算法采样个数 float aaxs[8] = {0}, aays[8] = {0}; //x,y轴采样队列 long aax_sum, aay_sum; //x,y轴采样和 float a_x[10]={0}, a_y[10]={0} ,g_x[10]={0} ,g_y[10]={0}; //加速度计协方差计算队列 float Px=1, Rx, Kx, Sx, Vx, Qx; //x轴卡尔曼变量 float Py=1, Ry, Ky, Sy, Vy, Qy; //y轴卡尔曼变量 void setup() { Wire.begin(); Serial.begin(9600); accelgyro.initialize(); //初始化 unsigned short times = 200; //采样次数 for(int i=0;i<times;i++){ accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值 axo += ax; ayo += ay; azo += az; //采样和 gxo += gx; gyo += gy; gzo += gz; } axo /= times; ayo /= times; azo /= times; //计算加速度计偏移 gxo /= times; gyo /= times; gzo /= times; //计算陀螺仪偏移 } void loop(){ unsigned long now = millis(); //当前时间(ms) dt = (now - lastTime) / 1000.0; //微分时间(s) lastTime = now; //上一次采样时间(ms) accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //读取六轴原始数值 float accx = ax / AcceRatio; //x轴加速度 float accy = ay / AcceRatio; //y轴加速度 float accz = az / AcceRatio; //z轴加速度 aax = atan(accy / accz) * (-180) / pi; //x轴对于水平面的夹角 aay = atan(accx / accz) * 180 / pi; //y轴对于水平面的夹角 aax_sum = 0; // 对于加速度计原始数据的滑动加权滤波算法 aay_sum = 0; for(int i=1;i<n_sample;i++){ aaxs[i-1] = aaxs[i]; aax_sum += aaxs[i] * i; aays[i-1] = aays[i]; aay_sum += aays[i] * i; } aaxs[n_sample-1] = aax; aax_sum += aax * n_sample; aax = (aax_sum / (11*n_sample/2.0)) * 9 / 7.0; //角度调幅至0-90° aays[n_sample-1] = aay; //此处应用实验法取得合适的系数 aay_sum += aay * n_sample; //本例系数为9/7 aay = (aay_sum / (11*n_sample/2.0)) * 9 / 7.0; float gyrox = - (gx-gxo) / GyroRatio * dt; //x轴角速度 float gyroy = - (gy-gyo) / GyroRatio * dt; //y轴角速度 agx += gyrox; //x轴角速度积分 agy += gyroy; //x轴角速度积分 /* kalmen start */ Sx = 0; Rx = 0; Sy = 0; Ry = 0; for(int i=1;i<10;i++){ //测量值平均值运算 a_x[i-1] = a_x[i]; //即加速度平均值 Sx += a_x[i]; a_y[i-1] = a_y[i]; Sy += a_y[i]; } a_x[9] = aax; Sx += aax; Sx /= 10; //x轴加速度平均值 a_y[9] = aay; Sy += aay; Sy /= 10; //y轴加速度平均值 for(int i=0;i<10;i++){ Rx += sq(a_x[i] - Sx); Ry += sq(a_y[i] - Sy); } Rx = Rx / 9; //得到方差 Ry = Ry / 9; Px = Px + 0.0025; // 0.0025在下面有说明... Kx = Px / (Px + Rx); //计算卡尔曼增益 agx = agx + Kx * (aax - agx); //陀螺仪角度与加速度计速度叠加 Px = (1 - Kx) * Px; //更新p值 Py = Py + 0.0025; Ky = Py / (Py + Ry); agy = agy + Ky * (aay - agy); Py = (1 - Ky) * Py; /* kalmen end */ Serial.print(agx);Serial.print(","); Serial.print(agy);Serial.println(); }