IMUCalibration-Gesture

calibration for Imu and show gesture

0.相关博客:

https://blog.csdn.net/shenshikexmu/article/details/80013444

1.读入数据

load('caldata.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=TaKa(raw_acc+Ba)

cal_gyro=TgKg(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

ESKF

conference Quaternion kinematics for the error-state Kalman filter

inspired by https://github.com/yuzhou42/ESKF-Attitude-Estimation/blob/master/ESKF%20Attitude%20Algorithm.pdf

6.LM算法

Optimize_my_LM

Levenberg-Marquardt algorithm written by myself

conference https://ww2.mathworks.cn/help/optim/ug/least-squares-model-fitting-algorithms.html#brrx6vm

滤波后的四元数

算法视频