九轴传感器姿态解算方法（互补滤波和梯度下降法MATLAB）

#### 0.相关博客: https://blog.csdn.net/shenshikexmu/article/details/80013444 #### 1.读入数据 load('calfata.mat') #### 2.运行校正算法 [Ta,Ka,Ba,Tg,Kg,Bg,Tm2a,Bm,Vm,mag_strength]=ImuCalibration_Gesture(cal_data) #### 3.校正部分 ##### 加速度、角速度 conference **A Robust and Easy to implement method for imu calibration without External Equipments** ##### 磁力计 算法mag2acc_matrix假设重力与磁向量的夹角不变，算法Cal_mag4acc_frame利用不同姿态下传感器感受的磁通向量的变化与姿态变化的相关性，计算参数。 #### 4.参数部分 ##### cal_acc=Ta*Ka*(raw_acc+Ba) ##### cal_gyro=Tg*Kg*(raw_gyro+Bg) ##### cal_mag=Tm2a*(raw_mag+Bm) #### 5.姿态部分 ##### Mahony filter conference **Nonlinear Complementery Filters on the Special Orthogonal Group** inspired by http://blog.csdn.net/luoshi006/article/details/51513580 ##### EKF derivation **A Double-Stage Kalman Filter for Orientation Tracking with an Integrated Processor in 9-D IMU** ##### high low pass high and low pass filter to Gyro atitude with Accelerate & Magnetic ##### 滤波后的四元数  ##### 最后一帧姿态