Mahony算法解算九轴陀螺仪具体代码

Mahony算法是一种用来融合加速度计和陀螺仪数据的算法，用于估算机器人或无人机的姿态。它通常由以下几个步骤组成：

1. 利用加速度计读数计算出重力向量。

2. 利用陀螺仪读数计算出角速度向量。

3. 使用某种滤波方法，如卡尔曼滤波或梯度下降法，融合这两个向量来估计姿态。

4. 在陀螺仪数据上使用误差积分来修正姿态估计值。

这里是一个用C++编写的Mahony算法的例子代码:

```c++ #define Kp 2.0f // proportional gain governs rate of convergence to accelerometer/magnetometer #define Ki 0.005f // integral gain governs rate of convergence of gyroscope biases

float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; // quaternion of sensor frame relative to auxiliary frame

void MahonyAHRSupdateIMU(float gx, float gy, float gz, float ax, float ay, float az) { float recipNorm; float halfvx, halfvy, halfvz; float halfex, halfey, halfez; float qa, qb, qc;

// Compute feedback only if accelerometer measurement valid (avoids NaN in accelerometer normalisation)
if(!((ax == 0.0f) && (ay == 0.0f) && (az == 0.0f))) {
 
    // Normalise accelerometer measurement
    recipNorm = invSqrt(ax * ax + ay * ay + az * az);
    ax *= recipNorm;
    ay *= recipNorm;
    az *= recipNorm;        
 
    // Estimated direction of gravity
    halfvx = q1 * q3 - q0 * q2;
    halfvy = q0 * q1 + q2 * q3;
    halfvz = q0 * q0 - 0.5f + q3 * q3;
 
    // Error is sum of cross product between estimated direction and measured direction of field vectors
    halfex = (ay * halfvz - az * halfvy);
    halfey = (az * halfvx - ax * halfvz);
    half
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19