飞控开发
长期更新，有单纯记录飞控的开发历程，也有对飞控的开源
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最近发现了BNO055传感器，价格20-40不等，我19.8入手了一块。似乎它内置的解算融合硬件比DMP优秀，而且库也写得很好，移植非常方便。可以省去大量的校准步骤。现在正在尝试。
tmn_A
1年1个月前
这一篇我们开始校准磁力计。误差模型和校准思路和加速度传感器基本相同：（8）然后误差函数同理，就不再详细叙述了。思路还是，先校准向量使其对应的点落在球心为原点的球面上，然后再校准姿态。然后椭球校准调用的库还是1.4里的那个程序，这次直接调用了，但是姿态校准有变化。这里只需要说四点。一是字母，可能有点混乱。我们规定在这里，以及在python程序里，用代表磁感应强度的字母b代表磁场（小写是为了区分矩阵与
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1年1个月前
OK，接下来是重头戏。我们按照文章2中说的方法对加速度进行校准。先通过最小二乘法校准使得测得向量模长与真实向量模长相等，再通过姿态矩阵把它和真实向量对齐。也就是（2）这个校准方法比那个论文里的，稍微复杂点，加了个校准后加速度数据校准前加速度数据、校准矩阵，前者3×3，后者3×1，共12个待定量，自由度12这里我们使用椭球校准。显然，如果没有误差，那么数据点会分布在一个球上，我们这样构造的误差函数：
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1年1个月前
由于原始数据有噪声，所以我们需要均值滤波。然而，对过多数据均值会让传感器输出延迟大，进而增大误差，对过少数据均值又会无法有效抑制噪声，所以我们要选择一个合适的值。当然，如果要使得效果最好，应该分段。发动机工作阶段各物理量变化较为剧烈，应该略减小参与均值滤波的数据个数，发动机停止工作后，再增加。这个可以靠对加速度大小来判断发动机是否停止工作。比如，加速度大小小于某个值（停止工作后若无空气，传感器传回
tmn_A
1年2个月前
mpu的标定，简单来说就是校准，是个非常大的坑，所以要分五期，这一期先说总体思路，下一期分析均值滤波的最优值，接下来三期实现加速度传感器，磁力计和角速度传感器的校准。（用这个顺序大概是由易到难的，后面细说。）这里的标定，不止第一代可以使用，以后也都可以使用，只需要减去均值滤波的部分，然后加上卡尔曼滤波即可。mpl库的自带校准只有减去零偏，显然是不够的，而且实测他根本没有减。可能这个要哪里配置吧……
tmn_A
1年2个月前
mpl库是Invensense公司针对mpu6050/9250系列MEMS传感器开发的，基于DMP硬件解算的商业闭源库。可以大大简化惯性导航姿态解算部分和传感器融合的运算。姿态解算是很复杂的，有多种算法需要利用四元数等等，不过因为有了mpl库，我们可以暂时免去这方面的学习。传感器融合也很复杂。因为陀螺仪有漂移，短时精确，长时不精确，加速度计和磁力计有数据抖动，静止情况下短时不精确，长时精确。为了互
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1年2个月前来自投稿
这是本专栏的第0个文章！本文我将写点自己的想法，讨论短时间惯性导航在业余探空火箭中的应用，并给出阅读本专栏的所需知识。首先，20世纪最伟大的魔法师，学园都市的缔造者，银之星，启示录之兽，我的妻子，亚雷斯塔·克劳利镇楼！其次，我和 辰星梦人 正在做一个探空火箭项目，这个项目中，他主要负责发动机，我主要负责航电。由于一些原因，我们的项目推迟了……不过肯定会在年内搞定的。这个探空火箭参数不会很出众，它会
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1年2个月前
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