卡爾曼濾波

ID:323888 · 發(fā)表于 2018-5-7 00:42

#include "include.h"

s16 Angle=0;
float  Gyro_x=0;
float  Q_angle=1;//0.0001;
float  Q_gyro=0.3;//0.00003;
float  R_angle=0.01;
float  dt=0.001;//0.005;
float  C_0 = 1.0;
float  Q_bias=0, Angle_err=0;
float  PCt_0=0.0, PCt_1=0, E=0.0;
float  K_0=0.0, K_1=0.0, t_0=0.0, t_1=0.0;
float  Pdot[4] ={0,0,0,0};
float  PP[2][2] = { { 1.0, 0 },{ 0, 1.0 } };

void Kalman_Filter(int Gyro,int Accel)
{
Angle+=(Gyro - Q_bias) * dt;

Pdot[0]=Q_angle - PP[0][1] - PP[1][0];

Pdot[1]=- PP[1][1];
Pdot[2]=- PP[1][1];
Pdot[3]=Q_gyro;

PP[0][0] += Pdot[0] * dt;
PP[0][1] += Pdot[1] * dt;
PP[1][0] += Pdot[2] * dt;
PP[1][1] += Pdot[3] * dt;

Angle_err =Accel-Angle;

PCt_0 = C_0 * PP[0][0];
PCt_1 = C_0 * PP[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 * PP[0][1];

PP[0][0] -= K_0 * t_0;
PP[0][1] -= K_0 * t_1;
PP[1][0] -= K_1 * t_0;
PP[1][1] -= K_1 * t_1;

Angle += K_0 * Angle_err;
Q_bias += K_1 * Angle_err;
Gyro_x = Gyro - Q_bias;

}

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