{"id":1702,"date":"2025-07-07T10:16:21","date_gmt":"2025-07-07T02:16:21","guid":{"rendered":"https:\/\/aoofoo.com\/?p=1702"},"modified":"2025-07-09T10:00:43","modified_gmt":"2025-07-09T02:00:43","slug":"%e5%a7%bf%e6%80%81%e8%a7%a3%e7%ae%97%e5%9b%9b%e5%85%83%e6%95%b0","status":"publish","type":"post","link":"https:\/\/aoofoo.com\/index.php\/2025\/07\/07\/%e5%a7%bf%e6%80%81%e8%a7%a3%e7%ae%97%e5%9b%9b%e5%85%83%e6%95%b0\/","title":{"rendered":"[\u59ff\u6001\u89e3\u7b97]MCU\u5982\u4f55\u5229\u7528\u56db\u5143\u6570\u8fdb\u884c\u59ff\u6001\u89e3\u7b97\uff1f"},"content":{"rendered":"
\u5728\u8fdb\u884c\u5b66\u4e60\u4e4b\u524d\uff0c\u8bf7\u5148\u5de9\u56fa\u76f8\u5173\u6570\u5b66\u77e5\u8bc6<\/p>\n

\u2713 \u5411\u91cf\u8fd0\u7b97\uff1a\u53c9\u79ef\u3001\u70b9\u79ef\u3001\u5f52\u4e00\u5316
\n\u2713 \u56db\u5143\u6570\uff1a\u57fa\u672c\u8fd0\u7b97\u3001\u65cb\u8f6c\u8868\u793a
\n\u2713 \u5fae\u5206\u65b9\u7a0b\uff1a\u6570\u503c\u79ef\u5206
\n\u2713 \u63a7\u5236\u7406\u8bba\uff1aPI\u63a7\u5236\u5668
\n\u2713 \u7ebf\u6027\u4ee3\u6570\uff1a\u65cb\u8f6c\u77e9\u9635\u4e0e\u56db\u5143\u6570\u8f6c\u6362<\/div><\/div>\n

<\/svg>\u5411\u91cf\u53c9\u79ef\u8fd0\u7b97<\/div>
<\/p>\n

\u5411\u91cf\u53c9\u79ef\u6982\u5ff5<\/p>\n

\u540c\u5411\u91cf\u53c9\u79ef\uff1ai\u00d7i = 0, j\u00d7j = 0, k\u00d7k = 0
\n\u6b63\u5411\u5faa\u73af\u00a0 \u00a0 \uff1a i\u00d7j = k, j\u00d7k = i, k\u00d7i = j
\n\u53cd\u5411\u5faa\u73af\u00a0 \u00a0 \uff1a j\u00d7i = -k, k\u00d7j = -i, i\u00d7k = -j<\/p>\n

\u6211\u4eec\u77e5\u9053\u5411\u91cf\u662f\u4e00\u4e2a\u65e2\u6709\u5927\u5c0f\uff0c\u4e5f\u6709\u65b9\u5411\u7684\u4e00\u4e2a\u4e1c\u897f\uff0c\u90a3\u4e48\u5c31\u5b58\u5728\u4e00\u4e2a\u4e92\u76f8\u5782\u76f4\u7684\u5355\u4f4d\u5411\u91cfi\u3001j\u3001k\u7ec4\u6210\u4e00\u4e2a\u5750\u6807\u7cfb\uff0c\u5728\u8fd9\u4e2a\u5750\u6807\u7cfb\u7684\u4efb\u4f55\u5411\u91cf\u90fd\u53ef\u4ee5\u7528\u5355\u4f4d\u5411\u91cfi\u3001j\u3001k\u6765\u8868\u793a\uff0c\u90a3\u4e48\u5411\u91cf\u53c9\u79ef\u5c31\u9700\u8981\u6211\u4eec\u5f15\u5165i\u3001j\u3001k\u8fd9\u4e09\u4e2a\u5355\u4f4d\u5411\u91cf\uff0c\u4f46\u662f\u8981\u6ce8\u610f\uff0c\u8fd9\u4e2ai\u3001j\u3001k\u662f\u5411\u91cf\uff0c\u4e0d\u8981\u548c\u56db\u5143\u6570\u4e2d\u7684\u865a\u6570\u5355\u4f4d\u7ed9\u5f04\u6df7\u4e86\u3002<\/p>\n

\u5728\u8fd9\u4e2a\u4e09\u7ef4\u5750\u6807\u7cfb\u7a7a\u95f4\u4e2d\uff0c\u6211\u4eec\u8981\u8868\u793a\u4e00\u4e2a\u4e00\u4e2a\u5411\u91cf\uff0c\u600e\u4e48\u8868\u793a\u5462\uff1f\u5f88\u660e\u663e\uff0c\u5c31\u662fp = Xi + Yj + Zk\uff0cijk\u662f\u5355\u4f4d\u5411\u91cf\uff0cp\u5c31\u662f\u6211\u4eec\u8981\u8868\u793a\u5411\u91cf\uff0c\u7531\u4e09\u4e2a\u4e92\u76f8\u5782\u76f4\u7684\u5355\u4f4d\u5411\u91cf\u4e58\u4ee5\u4e0d\u540c\u7684\u7cfb\u6570\u7ec4\u5408\u800c\u6210\uff0c\u90a3\u4e48\u4e24\u4e2a\u8fd9\u6837\u7684\u5411\u91cf\u76f8\u4e58\uff0c\u4f1a\u51fa\u73b0\u4ec0\u4e48\uff1f<\/p>\n

P1 = X1i + Y1j + Z1k<\/p>\n

P2 = X2i + Y2j +Z2k<\/p>\n

P1 \u00d7 P2 = (X1i + Y1j + Z1k) \u00d7 (X2i + Y2j + Z2k)<\/p>\n

\/\/\u8fd9\u4e00\u6b65\u6709\u4e9b\u4eba\u4f1a\u7406\u89e3\u9519\uff0cX1*X2\u80fd\u4e0d\u80fd\u9519\u4f4d\u7b49\u7b49\uff0c\u56e0\u4e3a\u524d\u9762\u6211\u4eec\u5b66\u4e60\u5230\uff0c\u6bd4\u5982 i*j = – j*i \uff0c\u4f46\u6211\u4eec\u53ea\u9700\u8981\u6ce8\u610f\uff0cX1\u3001X2\u3001Y1…\u8fd9\u6837\u7684\u53ea\u662f\u7cfb\u6570\uff0c\u800c\u4e0d\u662f\u5411\u91cf\uff0c\u6240\u4ee5\u8c01\u5728\u5148\u540e\u90fd\u65e0\u6240\u8c13\u3002<\/p>\n

P1 \u00d7 P2 = X1\u00b7X2\u00b7(i\u00d7i) + X1\u00b7Y2\u00b7(i\u00d7j) + X1\u00b7Z2\u00b7(i\u00d7k)
\n+ Y1\u00b7X2\u00b7(j\u00d7i) + Y1\u00b7Y2\u00b7(j\u00d7j) + Y1\u00b7Z2\u00b7(j\u00d7k)
\n+ Z1\u00b7X2\u00b7(k\u00d7i) + Z1\u00b7Y2\u00b7(k\u00d7j) + Z1\u00b7Z2\u00b7(k\u00d7k)<\/p>\n

P1 \u00d7 P2 = 0 + X1\u00b7Y2\u00b7k + (-X1\u00b7Z2\u00b7j) + (-Y1\u00b7X2\u00b7k) + 0 + Y1\u00b7Z2\u00b7i + Z1\u00b7X2\u00b7j + (-Z1\u00b7Y2\u00b7i) + 0<\/p>\n

\/\/\u6700\u7ec8\u5f97\u51fa\u7ed3\u679c<\/p>\n

P1 \u00d7 P2 = X1\u00b7Y2\u00b7k – X1\u00b7Z2\u00b7j – Y1\u00b7X2\u00b7k + Y1\u00b7Z2\u00b7i + Z1\u00b7X2\u00b7j – Z1\u00b7Y2\u00b7i<\/p>\n

P1 \u00d7 P2 = (Y1\u00b7Z2 – Z1\u00b7Y2)\u00b7i + (Z1\u00b7X2 – X1\u00b7Z2)\u00b7j + (X1\u00b7Y2 – Y1\u00b7X2)\u00b7k<\/p>\n

\u4e3a\u4e86\u65b9\u4fbf\u6211\u4eec\u8bb0\u5fc6\uff0c\u53ef\u4ee5\u76f4\u63a5\u4f7f\u7528\u884c\u5217\u5f0f\u8fdb\u884c\u8bb0\u5fc6\uff1a<\/p>\n

\u25a0\u25a0\u25a0\u25a0\u25a0| i\u00a0 \u00a0 \u00a0 j\u00a0 \u00a0 \u00a0k\u00a0 |
\n\u25a0 P1\u00d7P2 = | X1 Y1 Z1\u00a0 |
\n\u25a0\u25a0\u25a0\u25a0\u25a0| X2 Y2 Z2 |<\/p>\n

<\/div><\/div><\/div>\n

<\/svg>\u5411\u91cf\u70b9\u79ef\u8fd0\u7b97<\/div>
<\/p>\n

\u5411\u91cf\u70b9\u79ef\uff0c\u53c8\u79f0\u6570\u91cf\u79ef\u3001\u6807\u91cf\u79ef\u6216\u5185\u79ef\uff0c\u662f\u5411\u91cf\u4ee3\u6570\u4e2d\u6700\u57fa\u7840\u4e14\u5e94\u7528\u5e7f\u6cdb\u7684\u4e00\u79cd\u8fd0\u7b97\u3002\u548c\u5411\u91cf\u4e58\u79ef\u4e0d\u540c\uff0c\u5411\u91cf\u7684\u70b9\u79ef\u662f\u6ee1\u8db3\u4ea4\u6362\u5f8b\u7684\u3002<\/p>\n

\u51e0\u4f55\u4e0a\uff0c\u5411\u91cf\u70b9\u79ef\u53ef\u4ee5\u8868\u793a\u4e3a\u4e24\u4e2a\u5411\u91cf\u7684\u957f\u5ea6\u4e0e\u5176\u5939\u89d2\u4f59\u5f26\u7684\u4e58\u79ef\uff1a<\/p>\n

\"\"<\/p>\n

\u6709\u8fd9\u4e2a\u70b9\u79ef\u6709\u4ec0\u4e48\u7528\u5462\uff1f\u5b83\u53ef\u4ee5\u8ba9\u6211\u4eec\u5224\u65ad\u4e24\u4e2a\u5411\u91cf\u7684\u51e0\u4f55\u5173\u7cfb\uff1a<\/p>\n

\"\"<\/p>\n

\"\"<\/p>\n

<\/div><\/div><\/div>\n

<\/svg>\u5411\u91cf\u5f52\u4e00\u5316\u6982\u5ff5<\/div>
<\/p>\n

\u5411\u91cf\u5f52\u4e00\u5316\u662f\u6307\u5c06\u5411\u91cf\u7684\u6a21\uff08\u6216\u957f\u5ea6\uff09\u53d8\u4e3a1\uff0c\u540c\u65f6\u4fdd\u6301\u5176\u65b9\u5411\u4e0d\u53d8\u7684\u5904\u7406\u65b9\u6cd5\u3002\u5bf9\u4e8e\u4efb\u610f\u975e\u96f6\u5411\u91cf\u00a0 \"\"\u00a0<\/span>\uff0c\u5176\u5f52\u4e00\u5316\u540e\u7684\u5411\u91cf\u8868\u793a\u4e3a\u00a0<\/span>\"\"<\/span><\/span><\/span> \uff0c\u6ee1\u8db3 \"\"<\/span>\u00a0\u4e14\"\"<\/span><\/span><\/span>\u00a0<\/span>\u4e0e \"\"<\/span>\u65b9\u5411\u4e00\u81f4\u3002<\/span><\/p>\n

\u90a3\u4e48\u6570\u5b66\u8868\u8fbe\u5f0f\u5c31\u53ef\u4ee5\u7b80\u5355\u7684\u8868\u793a\u4e3a\uff1a\"\"<\/p>\n

<\/div><\/div><\/div>\n

\u56db\u5143\u6570<\/h2>\n

\u90a3\u4e48\u6700\u91cd\u8981\u7684\u95ee\u9898\u6765\u4e86\uff0c\u6211\u4eec\u662f\u5982\u4f55\u901a\u8fc7\u56db\u5143\u6570\uff0c\u8ba9MCU\u7406\u89e3\u59ff\u6001\u7684\u542b\u4e49\u5462\uff1f<\/p>\n

\u59ff\u6001\u95ee\u9898\u7684\u672c\u8d28\uff0c\u5c31\u662f\u4e09\u4e2a\u89d2\u5ea6\u7684\u95ee\u9898\uff1a<\/p>\n

    \n
  • \u4fef\u4ef0\u89d2(Pitch)\uff1a\u673a\u5934\u4e0a\u4e0b\uff0c\u6211\u4eec\u53ef\u4ee5\u7406\u89e3\u4e3ax\u8f74<\/li>\n
  • \u6a2a\u6eda\u89d2(Roll)\u00a0 \uff1a\u5de6\u53f3\u503e\u659c\uff0c\u6211\u4eec\u53ef\u4ee5\u7406\u89e3\u4e3ay\u8f74<\/li>\n
  • \u504f\u822a\u89d2(Yaw)\u00a0 \uff1a\u5de6\u53f3\u8f6c\u5411\uff0c\u6211\u4eec\u53ef\u4ee5\u7406\u89e3\u4e3az\u8f74<\/li>\n<\/ul>\n

    \u56db\u5143\u6570\u672c\u8d28\u4e0a\u8868\u793a\uff1a\u7ed5\u67d0\u4e2a\u8f74\u65cb\u8f6c\u67d0\u4e2a\u89d2\u5ea6\uff1a<\/strong><\/p>\n

    q = w + xi + yj + zk<\/p>\n

    \u901a\u8fc7q = w + xi + yj + zk\u6211\u4eec\u53ef\u4ee5\u63a8\u5bfc\u51fa\u4e0b\u9762\u7684\u516c\u5f0f\uff1a<\/p>\n

    q = cos(\u03b8\/2) + sin(\u03b8\/2)(xi + yj + zk)<\/p>\n

      \n
    • \u03b8\uff1a\u65cb\u8f6c\u89d2\u5ea6<\/li>\n
    • (x,y,z)\uff1a\u65cb\u8f6c\u8f74\u7684\u5355\u4f4d\u5411\u91cf<\/li>\n<\/ul>\n

      \u5176\u4e2d\uff1a
      \nw = cos(\u03b8\/2) \u2190 \u5b9e\u90e8
      \nx = sin(\u03b8\/2) \u00b7 axis.x \u2190 i\u7684\u7cfb\u6570
      \ny = sin(\u03b8\/2) \u00b7 axis.y \u2190 j\u7684\u7cfb\u6570
      \nz = sin(\u03b8\/2) \u00b7 axis.z \u2190 k\u7684\u7cfb\u6570<\/p>\n

      \u4f8b\u5982\uff0c\u7ed5Z\u8f74\u65cb\u8f6c90\u5ea6\uff1a<\/p>\n

      \u8f74\u5411\u91cf\uff1a(0, 0, 1)
      \n\u89d2\u5ea6\uff1a\u03b8 = 90\u00b0 = \u03c0\/2<\/p>\n

      q = cos(\u03c0\/4) + sin(\u03c0\/4)(0\u00b7i + 0\u00b7j + 1\u00b7k)
      \n= 0.707 + 0\u00b7i + 0\u00b7j + 0.707\u00b7k
      \n= (0.707, 0, 0, 0.707)<\/p>\n

      w = 0.707 \u3001x=0\u3001y=0\u3001z=0.707\uff0c\u8fd9\u5c31\u662f\u6240\u8c13\u7684\u201c\u56db\u5143\u6570\u201d\u3002<\/p>\n

      <\/svg>\u56db\u5143\u6570\u57fa\u672c\u8fd0\u7b97<\/div>
      <\/p>\n

      \u56db\u5143\u6570\u662f\u59ff\u6001\u89e3\u7b97\u4e2d\u6700\u91cd\u8981\u7684\u56e0\u7d20\uff0c\u5b83\u53ef\u4ee5\u8ba9MCU\u201c\u7406\u89e3\u201d\u7269\u4f53\u662f\u7ed5\u54ea\u4e2a\u70b9\u7684\u201c\u8f74\u201d\uff0c\u8fdb\u884c\u591a\u5c11\u5ea6\u7684\u65cb\u8f6c\u3002<\/p>\n

      \u56db\u5143\u6570\u662f\u4e00\u4e2a\u8d85\u590d\u6570\uff0c\u5f62\u5f0f\u4e3a\uff1a q=a+bi+cj+dk<\/p>\n

      \u5176\u4e2d\uff1a * a,b,c,d\u662f\u5b9e\u6570\uff08\u5206\u522b\u79f0\u4e3a\u5b9e\u90e8<\/strong>\u548c\u865a\u90e8<\/strong>\uff09\u3002<\/p>\n

      * i,j,k\u662f\u865a\u6570\u5355\u4f4d\uff0c\u6ee1\u8db3\u4ee5\u4e0b\u4e58\u6cd5\u89c4\u5219\uff1a<\/p>\n

        \n
      • i\u00b2 = j\u00b2 = k\u00b2 = ijk = -1<\/li>\n
      • i \u00d7 j = k, j \u00d7 k = i, k \u00d7 i = j<\/li>\n
      • j \u00d7 i = -k, k \u00d7 j = -i, i \u00d7 k = -j<\/li>\n<\/ul>\n

        \u6ce8\u610f\u4e0a\u9762\u7684\u516c\u5f0f\uff0c\u8fd9\u4e9b\u4e0d\u662f\u5b8c\u5168”\u63a8\u5bfc”\u51fa\u6765\u7684\uff0c\u800c\u662fHamilton\u7684\u5de7\u5999\u5b9a\u4e49\uff1a<\/strong><\/p>\n

        \u7b2c\u4e00\u6b65\uff1a\u57fa\u672c\u5b9a\u4e49<\/strong><\/p>\n

        i\u00b2 = j\u00b2 = k\u00b2 = ijk = -1<\/p>\n

        \u8fd9\u662fHamilton\u8bbe\u5b9a\u7684\u57fa\u7840\u89c4\u5219<\/strong>\uff0c\u5c31\u50cf\u590d\u6570\u4e2d\u5b9a\u4e49i\u00b2=-1\u4e00\u6837\u3002\u8fd9\u91cc\u6700\u5173\u952e\u7684\u662fijk = -1<\/strong>\u8fd9\u4e2a\u6761\u4ef6\u3002<\/p>\n

        \u7b2c\u4e8c\u6b65\uff1a\u4ece\u57fa\u7840\u89c4\u5219\u63a8\u5bfc\u5176\u4ed6\u5173\u7cfb<\/strong><\/p>\n

        \u8ba9\u6211\u4eec\u7528ijk = -1\u6765\u63a8\u5bfc\uff1a<\/p>\n

        \u63a8\u5bfcij = k\uff1a<\/strong><\/p>\n

          \n
        • \u4eceijk = -1\u5f00\u59cb<\/li>\n
        • \u4e24\u8fb9\u540c\u65f6\u53f3\u4e58k\uff1a(ijk)k = -1\u00b7k<\/li>\n
        • \u5de6\u8fb9\u53d8\u6210\uff1aij(k\u00b2) = ij(-1) = -ij<\/li>\n
        • \u53f3\u8fb9\u662f\uff1a-k<\/li>\n
        • \u6240\u4ee5\uff1a-ij = -k\uff0c\u56e0\u6b64ij = k<\/strong><\/li>\n<\/ul>\n

          \u63a8\u5bfcjk = i\uff1a<\/strong><\/p>\n

            \n
          • \u4eceijk = -1\u5f00\u59cb<\/li>\n
          • \u4e24\u8fb9\u540c\u65f6\u5de6\u4e58i\uff1ai(ijk) = i(-1)<\/li>\n
          • \u5de6\u8fb9\uff1a(i\u00b2)jk = (-1)jk = -jk<\/li>\n
          • \u53f3\u8fb9\uff1a-i<\/li>\n
          • \u6240\u4ee5\uff1a-jk = -i\uff0c\u56e0\u6b64jk = i<\/strong><\/li>\n<\/ul>\n

            \u63a8\u5bfcki = j\uff1a<\/strong><\/p>\n

              \n
            • \u4eceijk = -1\u5f00\u59cb<\/li>\n
            • \u4e24\u8fb9\u540c\u65f6”\u5939\u5728\u4e2d\u95f4”\u4e58j\uff1aj(ijk)j = j(-1)j = -j\u00b2= -(-1) = 1<\/li>\n
            • \u4f46\u8fd9\u4e2a\u63a8\u5bfc\u6bd4\u8f83\u590d\u6742\uff0c\u76f4\u63a5\u7528\u5faa\u73af\u5bf9\u79f0\u6027\u66f4\u5bb9\u6613\u7406\u89e3<\/li>\n<\/ul>\n

              \u7b2c\u4e09\u6b65\uff1a\u53cd\u5411\u4e58\u6cd5\uff08\u4ea4\u6362\u5f8b\u5931\u6548\uff09<\/strong><\/p>\n

              \u56db\u5143\u6570\u4e58\u6cd5\u4e0d\u6ee1\u8db3\u4ea4\u6362\u5f8b<\/strong>\uff01\u6240\u4ee5\uff1a<\/p>\n

                \n
              • \u5982\u679cij = k\uff0c\u90a3\u4e48ji = -k<\/li>\n
              • \u5982\u679cjk = i\uff0c\u90a3\u4e48kj = -i<\/li>\n
              • \u5982\u679cki = j\uff0c\u90a3\u4e48ik = -j<\/li>\n<\/ul>\n

                \u8bb0\u5fc6\u6280\u5de7<\/strong><\/h4>\n

                \u6b63\u5411\u5faa\u73af\uff08\u987a\u65f6\u9488\uff09\uff1ai\u2192j\u2192k\u2192i<\/p>\n

                  \n
                • ij = k, jk = i, ki = j<\/li>\n<\/ul>\n

                  \u53cd\u5411\u5faa\u73af\uff08\u9006\u65f6\u9488\uff09\uff1ai\u2192k\u2192j\u2192i<\/p>\n

                    \n
                  • ji = -k, kj = -i, ik = -j<\/li>\n<\/ul>\n

                    \u53ef\u4ee5\u60f3\u8c61i,j,k\u6309\u987a\u5e8f\u6392\u5728\u5706\u5708\u4e0a\uff0c\u987a\u65f6\u9488\u76f8\u4e58\u5f97\u6b63\u7ed3\u679c\uff0c\u9006\u65f6\u9488\u76f8\u4e58\u5f97\u8d1f\u7ed3\u679c\u3002<\/p>\n

                    \u8fd9\u5c31\u662fHamilton\u57281843\u5e74\u8d70\u8fc7\u90fd\u67cf\u6797\u7684Brougham\u6865\u65f6\u7a81\u7136\u60f3\u5230\u7684\u6570\u5b66\u7ed3\u6784\u2014\u2014\u4e00\u4e2a\u65e2\u80fd\u63cf\u8ff03D\u65cb\u8f6c\uff0c\u53c8\u4fdd\u6301\u4ee3\u6570\u5b8c\u6574\u6027\u7684\u7f8e\u5999\u7cfb\u7edf\uff01<\/p>\n

                    <\/div><\/div><\/div>\n

                     <\/p>\n

                     <\/p>\n

                    \u600e\u4e48\u7528\uff1f<\/h2>\n

                    \u76f8\u4fe1\u5230\u8fd9\u91cc\uff0c\u5927\u5bb6\u5bf9”\u56db\u5143\u6570”\u5df2\u7ecf\u6709\u4e86\u6700\u57fa\u7840\u7684\u8ba4\u8bc6\uff0c\u90a3\u4e48\u56db\u5143\u6570\u5728MCU\u4e2d\u53c8\u5982\u4f55\u4f7f\u7528\u5462\uff1f\u4ed6\u7684\u5177\u4f53\u610f\u4e49\u662f\u4ec0\u4e48\uff1f\u516d\u8f74\u4f20\u611f\u5668\u7684\u6570\u636e\u8f6c\u6362\u6210\u56db\u5143\u6570\u7684\u610f\u4e49\u53c8\u662f\u5982\u4f55\u5462\uff1f<\/p>\n

                    \u6211\u8d34\u4e00\u5219\u4ee3\u7801\uff0c\u8fd9\u662f\u6211\u4eec\u5bf9\u516d\u8f74\u4f20\u611f\u5668\u7684\u5b9e\u9645\u8f93\u51fa\u8fc7\u7a0b\uff1a<\/p>\n

                    void loop() {\r\n    \/\/ 1. \u8bfb\u53d6\u539f\u59cb\u4f20\u611f\u5668\u6570\u636e\r\n    RawIMU raw = readSensors();\r\n    \r\n    \/\/ 2. \u6570\u636e\u9884\u5904\u7406\r\n    ProcessedIMU data = preprocessData(raw);\r\n    \r\n    \/\/ 3. \u878d\u5408\u7b97\u6cd5\u66f4\u65b0\u56db\u5143\u6570\r\n    quaternion = updateQuaternion(quaternion, data, dt);\r\n    \r\n    \/\/ 4. \u59ff\u6001\u89e3\u7b97\u548c\u5e94\u7528\r\n    EulerAngles attitude = quaternionToEuler(quaternion);\r\n    \r\n    \/\/ 5. \u63a7\u5236\u8f93\u51fa\r\n    controlSystem(attitude);\r\n}<\/code><\/pre>\n
                    1\u3001\u8fd9\u91cc\u7684\u8bfb\u53d6\u539f\u59cb\u6570\u636e\uff0c\u4fbf\u662f\u6211\u4eec\u901a\u8fc7\u516d\u8f74\u4f20\u611f\u5668\uff0c\u83b7\u53d6\u5230\u4e09\u8f74\u52a0\u901f\u5ea6\u3001\u4e09\u8f74\u9640\u87ba\u4eea\u7684\u53c2\u6570\u3002<\/p>\n
                    <\/svg>\u516d\u8f74\u4f20\u611f\u5668\u6982\u5ff5\u8865\u5145<\/div>
                    <\/p>\n
                    \u4e09\u8f74\u52a0\u901f\u5ea6\u4f20\u611f\u5668<\/strong>\u662f\u4e00\u79cd\u57fa\u4e8e\u5fae\u673a\u7535\u7cfb\u7edf\u6280\u672f<\/strong>\u5236\u9020\u7684\u7ebf\u6027\u52a0\u901f\u5ea6\u4f20\u611f\u5668<\/strong>\u3002<\/p>\n
                    \u6838\u5fc3\u529f\u80fd\uff1a<\/strong> \u5b83\u7684\u6838\u5fc3\u4f5c\u7528\u662f\u7cbe\u786e\u6d4b\u91cf\u7269\u4f53\u5728\u4e09\u4e2a\u76f8\u4e92\u5782\u76f4\u7684\u7a7a\u95f4\u8f74<\/strong>\uff08\u901a\u5e38\u5b9a\u4e49\u4e3a X \u8f74\u3001Y \u8f74\u548c Z \u8f74\uff09\u4e0a\u7684\u7ebf\u6027\u52a0\u901f\u5ea6<\/strong>\u3002<\/p>\n
                      \n
                    • \u7b80\u5355\u6765\u8bf4\uff0c\u5b83\u5c31\u50cf\u4e00\u4e2a\u7cbe\u51c6\u7684\u8fd0\u52a8\u72b6\u6001\u63a2\u6d4b\u5668\uff0c\u4e13\u95e8\u611f\u77e5\u4f60\u662f\u5426\u5728\u79fb\u52a8\u3001\u5f80\u54ea\u4e2a\u65b9\u5411\u79fb\u52a8\u3001\u79fb\u52a8\u5f97\u6709\u591a\u5feb\u6216\u591a\u6162<\/strong>\u3002<\/li>\n
                    • \u5f53\u8bbe\u5907\u53d1\u751f\u4efb\u4f55\u5f62\u5f0f\u7684\u52a0\u901f\u5ea6\u53d8\u5316\u65f6\uff08\u5305\u62ec\u9759\u6b62\u65f6\u53d7\u5230\u7684\u91cd\u529b\u52a0\u901f\u5ea6\u3001\u7a81\u7136\u542f\u52a8\u3001\u5239\u8f66\u3001\u4e0a\u4e0b\u98a0\u7c38\u7b49\uff09\uff0c\u4e09\u8f74\u52a0\u901f\u5ea6\u4f20\u611f\u5668\u90fd\u80fd\u611f\u77e5\u5230\u8fd9\u79cd\u53d8\u5316\uff0c\u5e76\u8f93\u51fa\u76f8\u5e94\u7684\u7535\u4fe1\u53f7\u6765\u8868\u793a\u8fd9\u4e09\u4e2a\u8f74\u5411\u4e0a\u7684\u52a0\u901f\u5ea6\u5927\u5c0f\uff08\u5355\u4f4d\u901a\u5e38\u662f g \u6216 m\/s\u00b2\uff09\u3002<\/li>\n<\/ul>\n
                      \u7279\u522b\u63d0\u793a\uff1a<\/strong> \u5373\u4f7f\u8bbe\u5907\u5b8c\u5168\u9759\u6b62\uff0c\u52a0\u901f\u5ea6\u4f20\u611f\u5668\u4e5f\u4f1a\u68c0\u6d4b\u5230\u5730\u7403\u91cd\u529b\u52a0\u901f\u5ea6\uff08\u7ea69.8 m\/s\u00b2\uff09\uff0c\u8fd9\u4e5f\u662f\u5b83\u80fd\u7528\u6765\u5224\u65ad\u8bbe\u5907\u503e\u659c\u89d2\u5ea6\u7684\u539f\u7406\u3002<\/p>\n
                       <\/p>\n
                      \u4e09\u8f74\u9640\u87ba\u4eea<\/strong>\u662f\u4e00\u79cd\u57fa\u4e8e\u5fae\u673a\u7535\u7cfb\u7edf\u6280\u672f<\/strong>\u5236\u9020\u7684\u89d2\u901f\u5ea6\u4f20\u611f\u5668<\/strong>\u3002<\/p>\n
                      \u6838\u5fc3\u529f\u80fd\uff1a<\/strong><\/p>\n
                      \u5b83\u7684\u6838\u5fc3\u4f5c\u7528\u662f\u7cbe\u786e\u6d4b\u91cf\u7269\u4f53\u7ed5\u5176\u81ea\u8eab<\/strong>\u5728\u4e09\u4e2a\u76f8\u4e92\u5782\u76f4\u7684\u7a7a\u95f4\u8f74<\/strong>\uff08\u901a\u5e38\u5b9a\u4e49\u4e3a X \u8f74\u3001Y \u8f74\u548c Z \u8f74\uff09\u65cb\u8f6c\u7684\u89d2\u901f\u5ea6<\/strong>\u3002<\/p>\n
                        \n
                      • \u7b80\u5355\u6765\u8bf4\uff0c\u5b83\u5c31\u50cf\u4e00\u4e2a\u7cbe\u51c6\u7684\u65cb\u8f6c\u6d4b\u91cf\u4eea\uff0c\u4e13\u95e8\u63a2\u6d4b\u4f60\u5982\u4f55\u8f6c\u3001\u5f80\u54ea\u4e2a\u65b9\u5411\u8f6c\u3001\u8f6c\u5f97\u6709\u591a\u5feb<\/strong>\u3002<\/li>\n
                      • \u5f53\u8bbe\u5907\u53d1\u751f\u65cb\u8f6c\u65f6\uff08\u65e0\u8bba\u662f\u8f7b\u5fae\u6296\u52a8\u8fd8\u662f\u5feb\u901f\u65cb\u8f6c\uff09\uff0c\u4e09\u8f74\u9640\u87ba\u4eea\u90fd\u80fd\u611f\u77e5\u5230\u8fd9\u4e2a\u52a8\u4f5c\uff0c\u5e76\u8f93\u51fa\u76f8\u5e94\u7684\u7535\u4fe1\u53f7\u6765\u8868\u793a\u8fd9\u4e09\u4e2a\u8f74\u5411\u4e0a\u7684\u65cb\u8f6c\u901f\u5ea6\uff08\u5355\u4f4d\u901a\u5e38\u662f \u5ea6\/\u79d2 \u6216 rad\/s\uff09\u3002<\/li>\n<\/ul>\n
                        <\/div><\/div><\/div>\n
                        2\u3001\u8bfb\u53d6\u5230\u7684\u8fd9\u4e9b\u53c2\u6570\uff0c\u6211\u4eec\u53ef\u4ee5\u5bf9\u6570\u636e\u5148\u8fdb\u884c\u9884\u5904\u7406\uff0c\u5373\u96f6\u504f\u6821\u6b63\u3001\u5750\u6807\u53d8\u6362(\u6570\u636e\u9884\u5904\u7406)\u3002<\/p>\n
                        <\/svg>\u4ec0\u4e48\u662f\u96f6\u504f\u6821\u6b63?<\/div>
                        <\/p>\n
                        \u96f6\u504f<\/strong>\u5c31\u662f\u4f20\u611f\u5668\u5728\u9759\u6b62\u72b6\u6001\u4e0b\u7684\u975e\u96f6\u8bfb\u6570<\/strong>\u3002\u7406\u60f3\u60c5\u51b5\u4e0b\uff0c\u9759\u6b62\u7684\u9640\u87ba\u4eea\u5e94\u8be5\u8bfb\u6570\u4e3a0\uff0c\u4f46\u5b9e\u9645\u603b\u662f\u6709\u504f\u5dee\u3002<\/p>\n
                        \u5c31\u50cf\u4e00\u4e2a\u4e0d\u51c6\u7684\u79e4\uff0c\u771f\u5b9e\u91cd\u91cf: 0kg \u7535\u5b50\u79e4\u663e\u793a: 0.2kg \u2190 \u8fd9\u4e2a0.2kg\u5c31\u662f”\u96f6\u504f”\u3002<\/p>\n
                        typedef struct {\r\n    Vector3 accel_bias;\r\n    Vector3 gyro_bias;\r\n    bool calibrated;\r\n} BiasCorrection;\r\n\r\nBiasCorrection bias = {0};\r\n\r\nvoid calibrateBias() {\r\n    printf(\"\u5f00\u59cb\u6821\u6b63\uff0c\u8bf7\u4fdd\u6301\u8bbe\u5907\u9759\u6b62...\\n\");\r\n    \r\n    Vector3 accel_sum = {0, 0, 0};\r\n    Vector3 gyro_sum = {0, 0, 0};\r\n    int samples = 1000;\r\n    \r\n    \/\/ \u91c7\u96c61000\u4e2a\u9759\u6001\u6837\u672c\r\n    for (int i = 0; i < samples; i++) {\r\n        RawIMU raw = readSensors();\r\n        \r\n        accel_sum.x += raw.accel_x;\r\n        accel_sum.y += raw.accel_y;\r\n        accel_sum.z += raw.accel_z;\r\n        \r\n        gyro_sum.x += raw.gyro_x;\r\n        gyro_sum.y += raw.gyro_y;\r\n        gyro_sum.z += raw.gyro_z;\r\n        \r\n        delay(1);  \/\/ 1ms\u95f4\u9694\r\n    }\r\n    \r\n    \/\/ \u8ba1\u7b97\u5e73\u5747\u503c\u4f5c\u4e3a\u96f6\u504f\r\n    bias.gyro_bias.x = gyro_sum.x \/ samples;\r\n    bias.gyro_bias.y = gyro_sum.y \/ samples;\r\n    bias.gyro_bias.z = gyro_sum.z \/ samples;\r\n    \r\n    \/\/ \u52a0\u901f\u5ea6\u8ba1\u6821\u6b63\uff08\u8003\u8651\u91cd\u529b\uff09\r\n    bias.accel_bias.x = accel_sum.x \/ samples;\r\n    bias.accel_bias.y = accel_sum.y \/ samples;\r\n    bias.accel_bias.z = accel_sum.z \/ samples - 9.8f;  \/\/ \u51cf\u53bb\u91cd\u529b\r\n    \r\n    bias.calibrated = true;\r\n    printf(\"\u6821\u6b63\u5b8c\u6210\uff01\\n\");\r\n    \r\n    \/\/ \u4fdd\u5b58\u5230EEPROM\u4f9b\u4e0b\u6b21\u4f7f\u7528\r\n    saveBiasToEEPROM(bias);\r\n}<\/code><\/pre>\n
                         <\/p>\n
                        <\/div><\/div><\/div>\n
                        <\/svg>\u4ec0\u4e48\u53eb\u505a\u5750\u6807\u53d8\u6362\uff1f<\/div>
                        <\/p>\n
                        \u4e0d\u540c\u7684\u4f20\u611f\u5668\u3001\u5e94\u7528\u548c\u8ba1\u7b97\u6807\u51c6\u4f7f\u7528\u4e0d\u540c\u7684\u5750\u6807\u7cfb<\/strong>\uff0c\u9700\u8981\u7edf\u4e00\u5230\u540c\u4e00\u5750\u6807\u7cfb\u4e2d\u3002<\/p>\n
                        \u67d0\u4e9bIMU\u82af\u7247\uff1a
                        \nX\u8f74\uff1a\u5411\u53f3
                        \nY\u8f74\uff1a\u5411\u524d
                        \nZ\u8f74\uff1a\u5411\u4e0a<\/p>\n
                        \u53e6\u4e00\u4e9bIMU\u82af\u7247\uff1a
                        \nX\u8f74\uff1a\u5411\u524d
                        \nY\u8f74\uff1a\u5411\u53f3
                        \nZ\u8f74\uff1a\u5411\u4e0b<\/p>\n
                        \/\/ \u539f\u59cb\u5750\u6807\u7cfb\r\n\/\/ X: \u5411\u53f3, Y: \u5411\u524d, Z: \u5411\u4e0a\r\n\r\n\/\/ \u76ee\u6807\uff1a\u6807\u51c6\u673a\u4f53\u5750\u6807\u7cfb  \r\n\/\/ X: \u5411\u524d, Y: \u5411\u53f3, Z: \u5411\u4e0b\r\n\r\nVector3 transformMPU6050ToStandard(Vector3 sensor_data) {\r\n    Vector3 standard;\r\n    \r\n    \/\/ \u5750\u6807\u8f74\u91cd\u65b0\u6620\u5c04\r\n    standard.x = sensor_data.y;   \/\/ \u524d = \u4f20\u611f\u5668\u7684Y\r\n    standard.y = sensor_data.x;   \/\/ \u53f3 = \u4f20\u611f\u5668\u7684X  \r\n    standard.z = -sensor_data.z;  \/\/ \u4e0b = \u4f20\u611f\u5668\u7684-Z\r\n    \r\n    return standard;\r\n}<\/code><\/pre>\n
                         <\/p>\n
                        <\/div><\/div><\/div>\n
                        3\u3001\u7136\u540e\u6211\u4eec\u628a\u7ecf\u8fc7\u9884\u5904\u7406\u540e\u7684\u53c2\u6570\uff0c\u8fdb\u884cMahony\u6ee4\u6ce2\u5668\/\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff0c\u5f97\u51fa\u6765\u56db\u5143\u6570\uff08\u878d\u5408\u7b97\u6cd5\u66f4\u65b0\u56db\u5143\u6570\uff09\u3002<\/p>\n
                         <\/p>\n
                        4\u3001\u628a\u56db\u5143\u6570\u201c\u7ffb\u8bd1\u201d\u6210\u6b27\u62c9\u89d2\uff0c\u6211\u4eec\u5bf9\u6b27\u62c9\u89d2(\u6b27\u62c9\u89d2\u66f4\u4fbf\u4e8e\u7406\u89e3,\u4f46\u5982\u679c\u4f60\u7684\u5b9e\u9645\u9879\u76ee\u5bf9\u4e07\u5411\u9501\u95ee\u9898\u5f88\u654f\u611f\uff0c\u76f4\u63a5\u4f7f\u7528\u56db\u5143\u6570\u8fdb\u884c\u5206\u6790\u5f52\u7c7b\u66f4\u5b89\u5168)\u53d8\u6362\u7684\u5feb\u6162\u4e0e\u65b9\u5411\u8fdb\u884c\u5206\u6790\u5f52\u7c7b\uff0c\u5224\u65ad\u5f53\u524d\u7684\u59ff\u6001(\u59ff\u6001\u89e3\u7b97\u4e0e\u5e94\u7528)\u3002<\/p>\n
                        5\u3001\u8f93\u51fa\u5f53\u524d\u5224\u65ad\u7684\u59ff\u6001(\u63a7\u5236\u8f93\u51fa)\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
                        \u56db\u5143\u6570 \u90a3\u4e48\u6700\u91cd\u8981\u7684\u95ee\u9898\u6765\u4e86\uff0c\u6211\u4eec\u662f\u5982\u4f55\u901a\u8fc7\u56db\u5143\u6570\uff0c\u8ba9MCU\u7406\u89e3\u59ff\u6001\u7684\u542b\u4e49\u5462\uff1f \u59ff\u6001\u95ee\u9898\u7684\u672c\u8d28\uff0c\u5c31\u662f\u4e09\u4e2a\u89d2\u5ea6\u7684 […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[13],"tags":[37,38],"class_list":["post-1702","post","type-post","status-publish","format-standard","hentry","category-issue","tag-37","tag-38"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1702","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=1702"}],"version-history":[{"count":23,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1702\/revisions"}],"predecessor-version":[{"id":1707,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1702\/revisions\/1707"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=1702"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=1702"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=1702"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}