虚拟现实和增强现实之传感器融合算法：互补滤波.docx

self.roll = 0.0 #

def update(self, gyro_data, acc_data):

#

dt = 0.01 #

self.pitch += gyro_data[0] * dt

self.roll += gyro_data[1] * dt

#

acc_angle_pitch = math.atan2(acc_data[1], acc_data[2])

acc_angle_roll = math.atan2(-acc_data[0], math.sqrt(acc_data[1]**2 + acc_data[2]**2))

#

filter = ComplementaryFilter()

pitch, roll = filter.update(gyro_data, acc_data)

print(f"Pitch: {pitch:.2f}, Roll: {roll:.2f}")

import numpy as np

class ComplementaryFilter:

def __init__(self, alpha=0.98):

self.alpha = alpha

#

self.theta_est = self.alpha * theta_gyro + (1 - self.alpha) * theta_accel

return self.theta_est

gyro_data = 0.01 #

accel_data = [0, 0.1, 9.8] #

dt = 0.01 #

cf = ComplementaryFilter(alpha=0.98)