资源简介
四元数计算各个时刻的姿态数据,并能在欧拉角和四元数,旋转矩阵之间转换,通过地磁数据校正陀螺仪算出的姿态。
代码片段和文件信息
% Examplescript.m
%
% This script demonstrates use of the MadgwickAHRS and MahonyAHRS algorithm
% classes with example data. ExampleData.mat contains calibrated gyroscope
% accelerometer and magnetometer data logged from an AHRS device (x-IMU)
% while it was sequentially rotated from 0 degrees to +90 degree and then
% to -90 degrees around the X Y and Z axis. The script first plots the
% example sensor data then processes the data through the algorithm and
% plots the output as Euler angles.
%
% Note that the Euler angle plot shows erratic behaviour in phi and psi
% when theta approaches ?0 degrees. This due to a singularity in the Euler
% angle sequence known as ‘Gimbal lock‘. This issue does not exist for a
% quaternion or rotation matrix representation.
%
% Date
属性 大小 日期 时间 名称
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文件 4678 2011-09-28 23:40 madgwick_algorithm_matlab\@MadgwickAHRS\MadgwickAHRS.m
文件 4718 2011-09-28 23:40 madgwick_algorithm_matlab\@MahonyAHRS\MahonyAHRS.m
文件 101819 2011-09-24 13:39 madgwick_algorithm_matlab\ExampleData.mat
文件 3263 2012-11-06 19:00 madgwick_algorithm_matlab\Examplesc
文件 650 2011-09-27 16:52 madgwick_algorithm_matlab\quaternion_library\axisAngle2quatern.m
文件 965 2011-09-27 16:52 madgwick_algorithm_matlab\quaternion_library\axisAngle2rotMat.m
文件 938 2011-09-27 16:52 madgwick_algorithm_matlab\quaternion_library\euler2rotMat.m
文件 878 2011-09-27 16:52 madgwick_algorithm_matlab\quaternion_library\quatern2euler.m
文件 825 2011-09-27 16:52 madgwick_algorithm_matlab\quaternion_library\quatern2rotMat.m
文件 378 2011-09-27 16:52 madgwick_algorithm_matlab\quaternion_library\quaternConj.m
文件 661 2011-09-27 16:51 madgwick_algorithm_matlab\quaternion_library\quaternProd.m
文件 645 2011-09-27 16:51 madgwick_algorithm_matlab\quaternion_library\rotMat2euler.m
文件 1434 2011-09-27 16:51 madgwick_algorithm_matlab\quaternion_library\rotMat2quatern.m
文件 2465 2011-09-27 16:51 madgwick_algorithm_matlab\quaternion_library\Testsc
文件 81 2015-07-19 20:43 madgwick_algorithm_matlab\quaternion_library\wode.m
目录 0 2015-07-15 20:35 madgwick_algorithm_matlab\@MadgwickAHRS
目录 0 2015-07-15 20:35 madgwick_algorithm_matlab\@MahonyAHRS
目录 0 2015-07-19 20:43 madgwick_algorithm_matlab\quaternion_library
目录 0 2015-07-15 20:35 madgwick_algorithm_matlab
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