IMU+磁力计–>AHRSIMU+GNSS–>INSIMU+Camera–>VIO

误差状态的定义误差传播方程协方差传播

陀螺仪积分加速度计重力约束动态融合VS静态融合滤波互补滤波MahonyMadgwickEKF

一、简介 IMU 惯性测量单元(Inertial Measurement Unit) 是测量物体三轴角速度和加速度的设备。 6轴IMU – 在正交的三轴上安装陀螺仪和加速度计，共6个自由度，测量物体在三维空间的角速度和加速度； 9轴IMU – 加速度计+陀螺仪+磁力计，测量三轴磁场强度，共9个自由度； 加速度计：测量载体系下的比力（加速度与重力的合成）。还能提供俯仰角（pitch）和横滚角（roll）的绝对参考； 陀螺仪：测量载体系下的角速度； 磁力计：测量载体系下磁场强度，可提供绝对航向角（yaw）的参考，需要加速度计提供重力方向做倾斜补偿；   姿态与导航估计通常通过互补滤波、EKF、Madgwick、Mahony 等算法融合加速度计、陀螺仪和磁力计，以获得稳定、连续、抗干扰的三维姿态。由这三类传感器组成的 9 轴 IMU 加上姿态滤波器即可形成 AHRS（Attitude and Heading Reference System，航姿参考系统），提供 roll、pitch、yaw 的绝对姿态；在此基础上进一步利用 IMU 的加 ...

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Welcome to Hexo! This is your very first post. Check documentation for more info. If you get any problems when using Hexo, you can find the answer in troubleshooting or you can ask me on GitHub. Quick StartCreate a new post随便写写

Welcome to Hexo! This is your very first post. Check documentation for more info. If you get any problems when using Hexo, you can find the answer in troubleshooting or you can ask me on GitHub. Quick StartCreate a new post随便写写

Welcome to Hexo! This is your very first post. Check documentation for more info. If you get any problems when using Hexo, you can find the answer in troubleshooting or you can ask me on GitHub. Quick StartCreate a new post随便写写

Welcome to Hexo! This is your very first post. Check documentation for more info. If you get any problems when using Hexo, you can find the answer in troubleshooting or you can ask me on GitHub. Quick StartCreate a new post随便写写