用IMU数据进行位置和姿态估计

用IMU数据进行位置和姿态估计
用IMU的数据进行机器人位置和姿态的估计，比如acc或者gyro积分每个sample怎么进行坐标变换，怎么由rawdata得到位置和姿态信息的计算细节等。
Inrecentyears,microelectromechanicalsystem(MEMS)inertialsensors(3Daccelerometersand3Dgyroscopes)havebecomewidelyavailableduetotheirsmallsizeandlowcost.Inertialsensormeasurementsareobtainedathighsamplingratesandcanbeintegratedtoobtainpositionandorientationinformation.Theseestimatesareaccurateonashorttimescale,butsuerfromintegrationdriftoverlongertimescales.Toovercomethisissue,inertialsensorsaretypicallycombinedwithadditionalsensorsandmodels.Inthistutorialwefocusonthesignalprocessingaspectsofpositionandorientationestimationusinginertialsensors.Wediscussdierentmodelingchoicesandaselectednumberofimportantalgorithms.Thealgorithmsincludeoptimization-basedsmoothingandlteringaswellascomputationallycheaperextendedKalmanlterandcomplementarylterimplementations.Thequalityoftheirestimatesisillustratedusingbothexperimentalandsimulateddata. 本软件ID:10908682