shenshikexmu / imucalibration-poistion Goto Github PK
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IMU定位
data.mat里的数据是怎么定义的,加速度,陀螺仪,磁力计的单位是什么,我是不是可以导入其他型号的imu的数据
您好! 有个问题希望能探讨一下, 如题.
Poistion.m中, 我尝试使用世界坐标系下的磁向量(Vm)和加速度计坐标系下的磁向量(data(i,8:10))计算四元数和accW, 但是结果和原代码中求得的结果偏差很大. 具体操作如下:
Vm=[0,0.8268,-0.5625]; %数值来自于Cal_mag4acc_frame.m的Vm运行结果,即世界坐标系下的磁向量
第26行插入: qUtoV(Vm, data(i,8:10)) % 结果与 Q_RK4(1,:) 相差很大
第35行插入: accWorldframe(quatern2rotMat(qUtoV(Vm,data(i,8:10))),data(i,:))' %结果与accW(i,:)相差也很大
不知道问题究竟出在哪里. 期待您的回复!谢谢!
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