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本帖最后由 275891381 于 2017-12-29 20:03 编辑
1. MPU6050陀螺仪
[kenrobot_code]
// 陀螺仪
float angleAx,gyroGy;
MPU6050 accelgyro;
int16_t ax, ay, az, gx, gy, gz;
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);//原始数据采集
angleAx=atan2(ax,az)*180/PI;//加速度计算角度
gyroGy=-gy/131.00;//陀螺仪角速度,注意正负号与放置有关
// 陀螺仪
float angleAx,gyroGy;
MPU6050 accelgyro;
int16_t ax, ay, az, gx, gy, gz;
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);//原始数据采集
angleAx=atan2(ax,az)*180/PI;//加速度计算角度
gyroGy=-gy/131.00;//陀螺仪角速度,注意正负号与放置有关
[/kenrobot_code]
2.滤波参数及函数
[kenrobot_code]
//一阶互补滤波
float K1 =0.05; // 对加速度计取值的权重
float dt=20*0.001;//注意:dt的取值为滤波器采样时间
float angle1;
void Yijielvbo(float angle_m, float gyro_m)//采集后计算的角度和角加速度
{
angle1 = K1 * angle_m+ (1-K1) * (angle1 + gyro_m * dt);
}
//二阶互补滤波
float K2 =0.2; // 对加速度计取值的权重
float x1,x2,y1;
float dt=20*0.001;//注意:dt的取值为滤波器采样时间
float angle2;
void Erjielvbo(float angle_m,float gyro_m)//采集后计算的角度和角加速度
{
x1=(angle_m-angle2)*(1-K2)*(1-K2);
y1=y1+x1*dt;
x2=y1+2*(1-K2)*(angle_m-angle2)+gyro_m;
angle2=angle2+ x2*dt;
}
//卡尔曼滤波参数与函数
float dt=0.005;//注意:dt的取值为kalman滤波器采样时间
float angle, angle_dot;//角度和角速度
float P[2][2] = {{ 1, 0 },
{ 0, 1 }};
float Pdot[4] ={ 0,0,0,0};
float Q_angle=0.001, Q_gyro=0.005; //角度数据置信度,角速度数据置信度
float R_angle=0.5 ,C_0 = 1;
float q_bias, angle_err, PCt_0, PCt_1, E, K_0, K_1, t_0, t_1;
//卡尔曼滤波
void Kalman_Filter(float angle_m, float gyro_m)//angleAx 和 gyroGy
{
angle+=(gyro_m-q_bias) * dt;
angle_err = angle_m - angle;
Pdot[0]=Q_angle - P[0][1] - P[1][0];
Pdot[1]=- P[1][1];
Pdot[2]=- P[1][1];
Pdot[3]=Q_gyro;
P[0][0] += Pdot[0] * dt;
P[0][1] += Pdot[1] * dt;
P[1][0] += Pdot[2] * dt;
P[1][1] += Pdot[3] * dt;
PCt_0 = C_0 * P[0][0];
PCt_1 = C_0 * P[1][0];
E = R_angle + C_0 * PCt_0;
K_0 = PCt_0 / E;
K_1 = PCt_1 / E;
t_0 = PCt_0;
t_1 = C_0 * P[0][1];
P[0][0] -= K_0 * t_0;
P[0][1] -= K_0 * t_1;
P[1][0] -= K_1 * t_0;
P[1][1] -= K_1 * t_1;
angle += K_0 * angle_err; //最优角度
q_bias += K_1 * angle_err;
angle_dot = gyro_m-q_bias;//最优角速度
}
[/kenrobot_code]
3 三种滤波比较源代码 //
[kenrobot_code]
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
#include "Timer.h"//时间操作系统头文件 本程序用作timeChange时间采集并处理一次数据
Timer t;//时间类
float timeChange=20;//滤波法采样时间间隔毫秒
float dt=timeChange*0.001;//注意:dt的取值为滤波器采样时间
// 陀螺仪
float angleAx,gyroGy;//计算后的角度(与x轴夹角)和角速度
MPU6050 accelgyro;//陀螺仪类
int16_t ax, ay, az, gx, gy, gz;//陀螺仪原始数据 3个加速度+3个角速度
//一阶滤波
float K1 =0.05; // 对加速度计取值的权重
//float dt=20*0.001;//注意:dt的取值为滤波器采样时间
float angle1;//一阶滤波角度输出
//二阶滤波
float K2 =0.2; // 对加速度计取值的权重
float x1,x2,y1;//运算中间变量
//float dt=20*0.001;//注意:dt的取值为滤波器采样时间
float angle2;//er阶滤波角度输出
//卡尔曼滤波参数与函数
float angle, angle_dot;//角度和角速度
float angle_0, angle_dot_0;//采集来的角度和角速度
//float dt=20*0.001;//注意:dt的取值为kalman滤波器采样时间
//一下为运算中间变量
float P[2][2] = {{ 1, 0 },
{ 0, 1 }};
float Pdot[4] ={ 0,0,0,0};
float Q_angle=0.001, Q_gyro=0.005; //角度数据置信度,角速度数据置信度
float R_angle=0.5 ,C_0 = 1;
float q_bias, angle_err, PCt_0, PCt_1, E, K_0, K_1, t_0, t_1;
void setup() {
Wire.begin();//初始化
Serial.begin(9600);//初始化
accelgyro.initialize();//初始化
int tickEvent1=t.every(timeChange, getangle);//本语句执行以后timeChange毫秒执行回调函数getangle
int tickEvent2=t.every(50, printout) ;//本语句执行以后50毫秒执行回调函数printout,串口输出
}
void loop() {
t.update();//时间操作系统运行
}
void printout()
{
Serial.print(angleAx);Serial.print(',');
Serial.print(angle1);Serial.print(',');
Serial.print(angle2);Serial.print(',');
// Serial.print(gx/131.00);Serial.print(',');
Serial.println(angle);//Serial.print(',');
// Serial.println(Output);
}
void getangle()
{
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);//读取原始6个数据
angleAx=atan2(ax,az)*180/PI;//计算与x轴夹角
gyroGy=-gy/131.00;//计算角速度
Yijielvbo(angleAx,gyroGy);//一阶滤波
Erjielvbo(angleAx,gyroGy);//二阶滤波
Kalman_Filter(angleAx,gyroGy); //卡尔曼滤波
}
void Yijielvbo(float angle_m, float gyro_m)
{
angle1 = K1 * angle_m+ (1-K1) * (angle1 + gyro_m * dt);
}
void Erjielvbo(float angle_m,float gyro_m)
{
x1=(angle_m-angle2)*(1-K2)*(1-K2);
y1=y1+x1*dt;
x2=y1+2*(1-K2)*(angle_m-angle2)+gyro_m;
angle2=angle2+ x2*dt;
}
void Kalman_Filter(double angle_m,double gyro_m)
{
angle+=(gyro_m-q_bias) * dt;
angle_err = angle_m - angle;
Pdot[0]=Q_angle - P[0][1] - P[1][0];
Pdot[1]=- P[1][1];
Pdot[2]=- P[1][1];
Pdot[3]=Q_gyro;
P[0][0] += Pdot[0] * dt;
P[0][1] += Pdot[1] * dt;
P[1][0] += Pdot[2] * dt;
P[1][1] += Pdot[3] * dt;
PCt_0 = C_0 * P[0][0];
PCt_1 = C_0 * P[1][0];
E = R_angle + C_0 * PCt_0;
K_0 = PCt_0 / E;
K_1 = PCt_1 / E;
t_0 = PCt_0;
t_1 = C_0 * P[0][1];
P[0][0] -= K_0 * t_0;
P[0][1] -= K_0 * t_1;
P[1][0] -= K_1 * t_0;
P[1][1] -= K_1 * t_1;
angle += K_0 * angle_err; //最优角度
q_bias += K_1 * angle_err;
angle_dot = gyro_m-q_bias;//最优角速度
}
[/kenrobot_code]
4 数据绘图
5.附件 mp6050+时间轮换头文件+数据绘图
6.部分使用帮助
mpu6050关于16384.0 131.0 两个参数来历
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);//读取原始6个数据
使劲晃陀螺仪看看最大数据时多大
就知道该除以多少换算成g和度/秒
我的为 +—32768 +—250所以判定 头文件初始化的为最大小量程 +—2g +—250
ax/16384.0=x方向的加速度 单位g ,加速度计算角度用上面的方法
gx/131.0=x轴向角速度 单位 度/秒
来历:
截图出来
6.定时器pid//非全代码
[kenrobot_code]
#include "Timer.h"
//pid参数
float Setpoint;
float Input,Output,errSum,lastErr;
float kp, ki, kd;
float timeChange=10;//pid采样时间间隔毫秒
Timer t;//定时器时间
void setup(void)
{
t.every(timeChange, PIDCalc) ;//每10毫秒pid一次
}
void PIDCalc ()
{
float error = Setpoint - Input;
errSum += (error * timeChange);
float dErr = (error - lastErr) / timeChange;
Output = kp * error +ki * errSum + kd * dErr;
lastErr = error;
}
void loop(void)
{
t.update();
}
[/kenrobot_code]
7.MPU6050_DMP,国外dmp库
使用的时候需要删除#include "MPU6050.h"这个库文件,有冲突;这个库文件#include "MPU6050.h"的功能#include "MPU6050_6Axis_MotionApps20.h"都能实现
[kenrobot_code]
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
MPU6050 mpu(0x68);
float alpha,omiga;
volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
Quaternion q; // [w, x, y, z] quaternion container
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
void setup() {
Serial.begin(115200);
init_mpu6050();
}
double now,last;
void loop()
{
clc_mpu6050();
}
void init_mpu6050(void)
{
Wire.begin();
mpu.initialize();
Serial.println(mpu.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
delay(2);
devStatus = mpu.dmpInitialize();
if (devStatus == 0) {
Serial.println("Enabling DMP...");
mpu.setDMPEnabled(true);
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();
Serial.println("DMP ready! Waiting for first interrupt...");
dmpReady = true;
packetSize = mpu.dmpGetFIFOPacketSize();
}
else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print("DMP Initialization failed (code ");
Serial.print(devStatus);
Serial.println(")");
}
}
void clc_mpu6050(void)//9-11ms 更新一次数据 pid 取20ms
{
if (!dmpReady) return;
if (!mpuInterrupt && fifoCount < packetSize) return;
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();
fifoCount = mpu.getFIFOCount();
if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
mpu.resetFIFO();
Serial.println("FIFO overflow!");
}
else if (mpuIntStatus & 0x02) {
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
mpu.getFIFOBytes(fifoBuffer, packetSize);
fifoCount -= packetSize;
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
alpha=-ypr[1] * 180/M_PI;//从DMP中取出Yaw、Pitch、Roll三个轴的角度,放入数组ypr。单位:弧度
omiga=mpu.getRotationY()/16.4;//配置是16位表示正负2000°/s, 65536/4000
// Serial.println(millis()-last);
// last=millis();
Serial.print(alpha);
Serial.print(",");
Serial.println(omiga);
}
}
void dmpDataReady() {
mpuInterrupt = true;
}
[/kenrobot_code]
8,卡尔曼库
https://github.com/TKJElectronics/KalmanFilter里面的例子有绘图部分,附件太大给个链接
[kenrobot_code]
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050.h"
#include <Kalman.h>
Kalman kalmanY;
MPU6050 accelgyro;
int16_t ax, ay, az, gx, gy, gz;
double accX, accY, accZ, gyroX, gyroY, gyroZ;
uint32_t timer;
double pitch, Angle, Yrate;
void setup() {
Wire.begin();
Serial.begin(115200);
accelgyro.initialize();
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
accX = ax; accY = ay; accZ = az; gyroX = gx; gyroY = gy; gyroZ = gz;
pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
kalmanY.setAngle(pitch);
}
void loop() {
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
accX = ax; accY = ay; accZ = az; gyroX = gx; gyroY = gy; gyroZ = gz;
double dt = (double)(micros() - timer) / 1000000; // Calculate delta time
timer = micros();
pitch = atan(-accX / sqrt(accY * accY + accZ * accZ)) * RAD_TO_DEG;
Yrate = gyroY / 131.0; // Convert to deg/s
Angle = kalmanY.getAngle(pitch, Yrate, dt);
Serial.print(Angle); Serial.print(',');
Serial.println(Yrate);
}
[/kenrobot_code] |
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