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MPU6050代码

于 2022-04-19 发布 文件大小:5.10 MB
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MPU6050的加速度传感器和角速度传感器得到的原始数据对我们用处不大,我们期望得到的是姿态数据,也就是欧拉角:航向角(yaw)、横滚角(roll)和俯仰角(pitch)。但是要得到欧拉角数据就需要我们利用原始数据进行姿态融合结算,这个比较复杂,对于初学者而言不容易掌握,所以MPU6050自带了数字运动处理器DMP,将原始数据转化为四元数输出,进而由四元数方便地计算出欧拉角。当然,我们也可以使用卡尔曼滤波直接从原始数据额得到欧拉角。即存在两种从原始数据得到姿态数据的方法:1、DMP法:原始数据》四元数》姿态数据(欧拉角)2、卡尔曼滤波法:原始数据》姿态数据(欧拉角)

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