集成陀螺仪和加速度计读数 [英] Integrating gyro and accelerometer readings

问题描述

可能的重复:
组合陀螺仪和加速度计数据

我已经阅读了许多关于 卡尔曼滤波器 的论文，但似乎很少有从数学论文到实际工作代码的好的公开可访问的工作示例.

I have read a number of papers on Kalman filters, but there seem to be few good publically accessible worked examples of getting from mathematical paper to actual working code.

我有一个系统，其中包含一个三轴加速度计和一个测量围绕其中一个加速度计轴旋转的陀螺仪.该系统设计为由人握持，大部分时间陀螺仪将测量围绕重力矢量或接近重力矢量的旋转.(在同一行业工作的人很可能会从中认出我在说什么；))我意识到这是不受约束的.

I have a system containing a three-axis accelerometer and a single gyro measuring rotation around one of the accelerometer axes. The system is designed to be held by a human, and much of the time the gyro will be measuring rotation about the gravity vector or close to it. (People working in the same industry will likely recognise what I am talking about from that ;)) I realise this is underconstrained.

陀螺仪似乎具有接近恒定的偏差，对于系统的每个实例都略有不同.当系统倾斜时，我将如何编写过滤器以使用加速度计读数校准陀螺仪，因此陀螺轴与重力不共线，而是绕陀螺轴旋转?似乎应该有足够的信息来做到这一点，但被告知没有，为什么也会有答案:)

The gyros appear to have a near-constant bias that is slightly different for each instance of the system. How would I go about coding a filter to use the accelerometer readings to calibrate the gyro at times when the system is tilted so the gyro axis is not collinear with gravity, and is being rotated about the gyro axis? It seems like there should be enough information to do that, but being told that there isn't and why would be an answer too :)

推荐答案

nBot，一个两轮平衡机器人
关于作者如何选择解决他的两轮机器人的平衡问题的信息和链接相当多.

nBot, a two wheel balancing robot
Quite a bit of info and links about how this author chose to solve the balance problem for his two wheeled robot.

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