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#include <I2Cdev.h>
#include <MPU6050_6Axis_MotionApps20.h>
MPU6050 mpu; //實(shí)例化一個(gè) MPU6050 對象，對象名稱為 mpu
int16_t ax, ay, az, gx, gy, gz;
//********************angle data*********************//
float Gyro_y; //Y軸陀螺儀數(shù)據(jù)暫存
float Gyro_x;
float Gyro_z;
float angleAx;
float angle6;
float K1 = 0.05; // 對加速度計(jì)取值的權(quán)重
float Angle; //一階互補(bǔ)濾波計(jì)算出的小車最終傾斜角度
float accelz = 0;
//********************angle data*********************//
//***************Kalman_Filter*********************//
float P[2][2] = {{ 1, 0 },
{ 0, 1 }
};
float Pdot[4] = { 0, 0, 0, 0};
float Q_angle = 0.001, Q_gyro = 0.005; //角度數(shù)據(jù)置信度,角速度數(shù)據(jù)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;
float timeChange = 5; //濾波法采樣時(shí)間間隔毫秒
float dt = timeChange * 0.001; //注意：dt的取值為濾波器采樣時(shí)間
//***************Kalman_Filter*********************//
void Angletest()
{
//平衡參數(shù)
Angle = atan2(ay , az) * 57.3; //角度計(jì)算公式
Gyro_x = (gx - 128.1) / 131; //角度轉(zhuǎn)換
Kalman_Filter(Angle, Gyro_x); //卡曼濾波
//旋轉(zhuǎn)角度Z軸參數(shù)
if (gz > 32768) gz -= 65536; //強(qiáng)制轉(zhuǎn)換2g 1g
Gyro_z = -gz / 131; //Z軸參數(shù)轉(zhuǎn)換
accelz = az / 16.4;
angleAx = atan2(ax, az) * 180 / PI; //計(jì)算與x軸夾角
Gyro_y = -gy / 131.00; //計(jì)算角速度
//一階互補(bǔ)濾波
angle6 = K1 * angleAx + (1 - K1) * (angle6 + Gyro_y * dt);
}
////////////////////////kalman/////////////////////////
float angle, angle_dot; //平衡角度值
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; //角度
q_bias += K_1 * angle_err;
angle_dot = gyro_m - q_bias; //角速度
}
void setup() {
Wire.begin(); //加入 I2C 總線序列
Serial.begin(9600); //開啟串口，設(shè)置波特率
delay(1000);
mpu.initialize(); //初始化MPU6050
}
void loop() {
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz); //IIC獲取MPU6050六軸數(shù)據(jù) ax ay az gx gy gz
Angletest(); //獲取angle 角度和卡曼濾波
//Serial.print(ax);Serial.print(",");
// Serial.print(ay);Serial.print(",");
// Serial.print(az);Serial.print("---");
// Serial.print(angle);Serial.print(",");
// Serial.print(angle_dot);Serial.print(",");
//Serial.println(angle6);
Serial.print(ax);Serial.print(",");
Serial.print(ay);Serial.print(",");
Serial.print(az);Serial.print("---");
Serial.print(gx);Serial.print(",");
Serial.print(gy);Serial.print(",");
Serial.println(gz);
delay(5);
}
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