磁力计和加速度计在航向角的应用

1.关于磁力计的校准，我用了简单的方式，也就是拿着磁力计360度旋转，找到最大最小值，然后求得中心点。网上一堆的。2.就是磁力计和加速度计的摆放问题。由于我当时的摆放和加速度计只有Y轴相同，X轴反向，当你用旋转矩阵右乘以后，发现不对。Art-目前网上并没有人说这个x,y,z的摆放会对磁力计的计算的影响。也可能是我没找到把第一种假设：绕X轴旋转20度，得到的姿态角是pitch=-54.roll=0;同时得到Pitch=0.roll=0时刻的磁力计的值。如下。这个是我自己算出来的结果mag.world_mx=mag.mx*fast_cos(angle.roll)+mag.my*fast_sin(angle.pitch)*fast_sin(angle.roll)+mag.mz*fast_sin(angle.roll)*fast_cos(angle.pitch);mag.world_my=mag.my*fast_cos(angle.pitch)-mag.mz*fast_sin(angle.pitch);修angleUx20W(HB8,,,pitchProllyaw0.001757168...0.0222783^186.^-9397280x20000180,update7ticks4magX_offset0magY_offset/magZ_offEet。magJ(VmagYmamamamamaEx-J(_VY_2-29999999。EX。my"mzVworld_mMyworld_myVworld_m236'S'-426430-451-西struct句修angleUx20W(HB8,,,pitchProllyaw0.001757168...0.0222783^186.^-9397280x20000180,update7ticks4magX_offset0magY_offset/magZ_offEet。magJ(VmagYmamamamamaEx-J(_VY_2-29999999。EX。my"mzVworld_mMyworld_myVworld_m236'S'-426430-451-西struct句Ox^OOOOLBS...-55.8290291flcat3.317632288.2926178flcatU^UUUULBU...structuns-igr56S-42&uns-igrshortctruct<LIIfloatfloatfloat£truct<LiIunsignedunsignedshort-210shortshort-456shortshortshortshortshortihortshortthortmin228.805588float♦magX_offset/m3gY_offsetshortshortshortshortm3gX_m3KmagX_minrnagY.maxrnagY_rninmagZ_max-27.fie.179.float170ifloat-25.9361706186.004562-15.18555S3153.385162floatfloatfloatD239.273895第二种情况，旋转和情况一相同，从水平旋转到pitch=-20.roll=0;但是严格按照旋转矩阵来计算。代码如下。mag.world_mx=mag.mx*fast_cos(angle.roll)+mag.my*fast_sin(angle.pitch)*fast_sin(angle.roll)+mag.mz*fast_sin(angle.roll)*fast_cos(angle.pitch);mag.world_my=mag.myfastcos(angle.pitch)-mag.mz*fastsin(angle.pitch);

MFI班struct<angleOx2D0001BS...struct<un/pitchproll0.001601392...floatVpitchroll-。yaw-535668525,float0.026224155float3.34903574ifloat86.4444962float74.835701■floatmiag0x20000180...struct<u悔mag0x20000180...struct<un/update/ticksQmagX_offset。magY_offset#m3gZ_offset■magX/msgV•◎msgZ"m3gX_inaxQmflgX_min5msgV.iTiax。mag¥_minWm3gZ_inax0magZ_rnin0unsignec/updateWticks0magX_offEet。magY-^ffsetQmagZ_t>ffsetWmagXVmagY0unsigned■224'?unsign*160'?unsigned■-426short-42fishort-216short-211short430short430short-445short-454short-34short10short594shortmagZ"magX_ni3KQmagX_min7magY_ni3MQmag¥_min"magZ_ni3KQmagZ_min396short19Sshort-198short-555short知5short14short23short-Wshort-446short650short658short202short202short卜Ek。myWmz/world_mK|Wworld_my-36刑oa|"EX。myL*mzVworld_mw/world_my-39■float1S2flos222■float164flOS-31■float-32.919S456floa-41.193S43S■floatISO.983414-刑oa101.627045■float—world_mz。all0float一world_rnzPallU■float243473343float216.4855G5■float综上所述，关于坐标系的对其，是非常有必要的。可见，mx,my旋转