KalmanFilteredIMU

代码说明：

  9DOF，Kalman滤波器的源程序，通过加速度传感器、陀螺仪、磁场三种传感器的输出来实现姿态仿真。(Aim of my code: There are a lot of projects available on the web for 1 axis-filtering, but not much in 3 dimensions. And I had a lot of trouble getting useful and relevant information. For the big majority, the Kalman Filter part in those projects is either commented by "I found that elsewhere, and it works" or not understandable. So I started from scratch and kept the Kalman Filtering part really clear and well commented. It will be really helpful for anyone wanting a tutorial about doing a Kalman Filter for Accelerometer, Gyroscope and Compass. Every step is detailed. It then will be useful not only for those wanting to use it like that, but for everyone wanting to learn how is the Kalman Filter working.)

文件列表：

KalmanFilteredIMU
.................\IMPORTANT TO BUILD.txt,654,2012-02-17
.................\KalmanFilteredIMU
.................\.................\Debug
.................\.................\.....\i2ccomm.d,4347,2012-02-17
.................\.................\.....\i2ccomm.o,4180,2012-02-17
.................\.................\.....\KalmanFilter.d,4950,2012-02-17
.................\.................\.....\KalmanFilter.o,21356,2012-02-17
.................\.................\.....\KalmanFilteredIMU.d,4733,2012-02-17
.................\.................\.....\KalmanFilteredIMU.eep,13,2012-02-17
.................\.................\.....\KalmanFilteredIMU.elf,86154,2012-02-17
.................\.................\.....\KalmanFilteredIMU.hex,73204,2012-02-17
.................\.................\.....\KalmanFilteredIMU.lss,559649,2012-02-17
.................\.................\.....\KalmanFilteredIMU.map,82085,2012-02-17
.................\.................\.....\KalmanFilteredIMU.o,17744,2012-02-17
.................\.................\.....\makedep.mk,336,2012-02-17
.................\.................\.....\Makefile,4561,2012-02-17
.................\.................\.....\mathstools.d,2274,2012-02-17
.................\.................\.....\mathstools.o,20832,2012-02-17
.................\.................\.....\sensors.d,4925,2012-02-17
.................\.................\.....\sensors.o,13136,2012-02-17
.................\.................\.....\usart.d,4055,2012-02-17
.................\.................\.....\usart.o,13328,2012-02-17
.................\.................\i2ccomm.cpp,988,2012-02-17
.................\.................\i2ccomm.h,284,2012-02-17
.................\.................\KalmanFilter.cpp,7151,2012-02-17
.................\.................\KalmanFilter.h,1355,2012-02-17
.................\.................\KalmanFilteredIMU.avrgccproj,6408,2012-02-17
.................\.................\KalmanFilteredIMU.cpp,6224,2012-02-17
.................\.................\mathstools.cpp,5399,2012-02-17
.................\.................\mathstools.h,1320,2012-02-17
.................\.................\sensors.cpp,6278,2012-02-17
.................\.................\sensors.h,473,2012-02-17
.................\.................\usart.cpp,3832,2012-01-11
.................\.................\usart.h,1237,2012-02-08
.................\KalmanFilteredIMU.avrsln,924,2012-02-17