存档
This commit is contained in:
392
apps/earphone/xtell_Sensor/A_hide/7/skiing_tracker.c
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392
apps/earphone/xtell_Sensor/A_hide/7/skiing_tracker.c
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/*
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动态ZUPT+卡尔曼+巴特沃斯一阶滤波器
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针对启动滑雪和停止滑雪，设置不同阈值
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启动滑雪和ZUPT更新的陀螺仪方差阈值分开设置
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- 启动滑雪的陀螺仪阈值会更宽松一些
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原地旋转和ZUPT更新的加速度方差阈值分开设置
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- 原地旋转的加速度阈值更宽松
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能够从静止状态到变化状态，去根据阈值来判断这个“变化”：进入滑行状态 / 只是原地摆动
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- 但是还是不够灵敏
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添加了滑雪过程中转弯判断，参数待调
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*/
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#include "skiing_tracker.h"
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#include "../sensor/SC7U22.h"
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#include <math.h>
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#include <string.h>
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#define G_ACCELERATION 9.81f
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#define DEG_TO_RAD (3.14159265f / 180.0f)
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// --- ZUPT ---
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//两个判断是否静止的必要条件：动态零速更新(ZUPT)阈值
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// 加速方差阈值，提高阈值，让“刹车”更灵敏，以便在波浪式前进等慢速漂移时也能触发零速更新
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#define ZUPT_ACC_VARIANCE_THRESHOLD 0.2f
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// 陀螺仪方差阈值
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#define ZUPT_GYR_VARIANCE_THRESHOLD 5.0f
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// --- 启动滑雪阈值 ---
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// 加速度模长与重力的差值大于此值，认为开始运动；降低阈值，让“油门”更灵敏，以便能捕捉到真实的慢速启动
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#define START_SKIING_ACC_THRESHOLD 0.5f
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// 陀螺仪方差阈值，以允许启动瞬间的正常抖动，但仍能过滤掉混乱的、非滑雪的晃动。
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#define SKIING_GYR_VARIANCE_THRESHOLD 15.0f
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// --- 原地旋转抖动 ---
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// 用于原地旋转判断的加速度方差阈值。此值比ZUPT阈值更宽松，
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// 以允许原地旋转时身体的正常晃动，但仍能与真实滑行时的剧烈加速度变化区分开。
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#define ROTATING_ACC_VARIANCE_THRESHOLD 0.8f
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// 旋转/摆动检测阈值：角速度总模长大于此值(度/秒)，认为正在进行非滑雪的旋转或摆动
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#define ROTATION_GYR_MAG_THRESHOLD 45.0f
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// --- 滑雪转弯动 ---
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// 加速度方差阈值，大于此值，滑雪过程可能发生了急转弯
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#define WHEEL_ACC_VARIANCE_THRESHOLD 3.0f
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// 旋转/摆动检测阈值：角速度总模长大于此值(度/秒)，认为滑雪过程中进行急转弯
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#define WHEEL_GYR_MAG_THRESHOLD 180.0f
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// --- 用于消除积分漂移的滤波器和阈值 ---
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// 高通滤波器系数 (alpha)。alpha 越接近1，滤除低频(直流偏移)的效果越强，但可能滤掉真实的慢速运动。
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// alpha = RC / (RC + dt)，
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#define HPF_ALPHA 0.969f
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// 加速度死区阈值 (m/s^2)。低于此阈值的加速度被认为是噪声，不参与积分。
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// 设得太高会忽略真实的慢速启动，设得太低则无法有效抑制噪声。
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#define ACC_DEAD_ZONE_THRESHOLD 0.05f
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// --- 模拟摩擦力，进行速度衰减 ---
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#define SPEED_ATTENUATION 1.0f //暂不模拟
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//////////////////////////////////////////////////////////////////////////////////////////////////
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//实现
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/**
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* @brief 初始化滑雪追踪器
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*
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* @param tracker
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*/
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void skiing_tracker_init(skiing_tracker_t *tracker)
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{
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if (!tracker) {
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return;
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}
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// 使用memset一次性清零整个结构体，包括新增的缓冲区
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memset(tracker, 0, sizeof(skiing_tracker_t));
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tracker->state = SKIING_STATE_STATIC;
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}
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/**
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* @brief 将设备坐标系下的加速度转换为世界坐标系
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* @param acc_device 设备坐标系下的加速度 [x, y, z]
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* @param angle 姿态角 [pitch, roll, yaw]，单位: 度
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* @param acc_world 输出：世界坐标系下的加速度 [x, y, z]
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*/
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static void transform_acc_to_world_frame(const float *acc_device, const float *angle, float *acc_world)
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{
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// 驱动输出的角度与标准航空定义相反，需要取反才能用于标准旋转矩阵。
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float pitch = -angle[0] * DEG_TO_RAD;
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float roll = -angle[1] * DEG_TO_RAD;
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// TODO: 当引入三轴磁力计后，这里的 yaw 应由磁力计和陀螺仪融合解算得出，以解决航向漂移问题。
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// 目前 yaw 暂时不参与计算，因为仅靠加速度计和陀螺仪无法获得准确的绝对航向角。
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// float yaw = -angle[2] * DEG_TO_RAD;
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float cp = cosf(pitch);
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float sp = sinf(pitch);
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float cr = cosf(roll);
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float sr = sinf(roll);
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float ax = acc_device[0];
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float ay = acc_device[1];
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float az = acc_device[2];
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// 使用经过验证的、正确的身体坐标系到世界坐标系的旋转矩阵 (基于 Y-X 旋转顺序)
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// 这个矩阵将设备测量的加速度(ax, ay, az)正确地转换到世界坐标系(acc_world)。
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// 注意：这里没有使用yaw，主要关心的是坡面上的运动，绝对航向暂时不影响速度和距离的计算。
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// TODO
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acc_world[0] = cp * ax + sp * sr * ay + sp * cr * az;
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acc_world[1] = 0 * ax + cr * ay - sr * az;
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acc_world[2] = -sp * ax + cp * sr * ay + cp * cr * az;
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}
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/**
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* @brief 计算缓冲区内三轴数据的方差之和
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*
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* @param buffer 传进来的三轴数据：陀螺仪/加速度
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* @return float 返回方差和
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*/
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static float calculate_variance(float buffer[VARIANCE_BUFFER_SIZE][3])
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{
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float mean[3] = {0};
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float variance[3] = {0};
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// 计算均值
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for (int i = 0; i < VARIANCE_BUFFER_SIZE; i++) {
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mean[0] += buffer[i][0];
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mean[1] += buffer[i][1];
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mean[2] += buffer[i][2];
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}
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mean[0] /= VARIANCE_BUFFER_SIZE;
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mean[1] /= VARIANCE_BUFFER_SIZE;
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mean[2] /= VARIANCE_BUFFER_SIZE;
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// 计算方差
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for (int i = 0; i < VARIANCE_BUFFER_SIZE; i++) {
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variance[0] += (buffer[i][0] - mean[0]) * (buffer[i][0] - mean[0]);
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variance[1] += (buffer[i][1] - mean[1]) * (buffer[i][1] - mean[1]);
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variance[2] += (buffer[i][2] - mean[2]) * (buffer[i][2] - mean[2]);
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}
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variance[0] /= VARIANCE_BUFFER_SIZE;
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variance[1] /= VARIANCE_BUFFER_SIZE;
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variance[2] /= VARIANCE_BUFFER_SIZE;
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// 返回三轴方差之和，作为一个综合的稳定度指标
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return variance[0] + variance[1] + variance[2];
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}
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/**
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* @brief 状态机更新
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*
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* @param tracker
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* @param acc_device_ms2 三轴加速度，m/s^2
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* @param gyr_dps 三轴陀螺仪，dps
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*/
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static void update_state_machine(skiing_tracker_t *tracker, const float *acc_device_ms2, const float *gyr_dps)
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{
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// 缓冲区未填满时，不进行状态判断，默认为静止
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if (!tracker->buffer_filled) {
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tracker->state = SKIING_STATE_STATIC;
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return;
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}
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// --- 计算关键指标 ---
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float acc_variance = calculate_variance(tracker->acc_buffer); // 计算加速度方差
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float gyr_variance = calculate_variance(tracker->gyr_buffer); // 计算陀螺仪方差
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float gyr_magnitude = sqrtf(gyr_dps[0]*gyr_dps[0] + gyr_dps[1]*gyr_dps[1] + gyr_dps[2]*gyr_dps[2]);
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float acc_magnitude = sqrtf(acc_device_ms2[0]*acc_device_ms2[0] + acc_device_ms2[1]*acc_device_ms2[1] + acc_device_ms2[2]*acc_device_ms2[2]);
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// --- 状态切换逻辑 (按优先级) ---
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// 优先级1：动态零速更新 (ZUPT) - 最严格和最优先的“刹车”
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if (acc_variance < ZUPT_ACC_VARIANCE_THRESHOLD && gyr_variance < ZUPT_GYR_VARIANCE_THRESHOLD) {
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tracker->state = SKIING_STATE_STATIC;
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// 速度清零，抑制漂移
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memset(tracker->velocity, 0, sizeof(tracker->velocity));
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tracker->speed = 0.0f;
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// 关键：当检测到静止时，必须重置高通滤波器的状态
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memset(tracker->acc_world_unfiltered_prev, 0, sizeof(tracker->acc_world_unfiltered_prev));
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memset(tracker->acc_world_filtered, 0, sizeof(tracker->acc_world_filtered));
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return;
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}
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if(tracker->state == SKIING_STATE_SKIING && gyr_magnitude > WHEEL_GYR_MAG_THRESHOLD && acc_variance > WHEEL_ACC_VARIANCE_THRESHOLD){
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//TODO：可以考虑清掉速度消除积分带来的漂移
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tracker->state = SKIING_STATE_ROTATING;
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return;
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}
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// 优先级2：原地旋转 - 特殊的、非滑雪的运动状态
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// 条件：角速度很大，同时线性加速度的晃动在一个“中等”范围内。
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if (tracker->state == SKIING_STATE_STATIC && gyr_magnitude > ROTATION_GYR_MAG_THRESHOLD && acc_variance < ROTATING_ACC_VARIANCE_THRESHOLD) {
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tracker->state = SKIING_STATE_ROTATING;
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return;
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}
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// 优先级3：启动滑雪 - “油门”
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// 条件：有足够大的线性加速度，同时陀螺仪的抖动在一个“合理”（而非“完全静止”）的范围内。
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if (fabsf(acc_magnitude - G_ACCELERATION) > START_SKIING_ACC_THRESHOLD && gyr_variance < SKIING_GYR_VARIANCE_THRESHOLD) {
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tracker->state = SKIING_STATE_SKIING;
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return;
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}
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// 如果不满足任何启动或停止条件，则保持当前状态（滑雪中）
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// 如果当前是静止或旋转，但没有满足启动条件，则状态会保持，直到满足ZUPT或旋转条件。
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}
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/**
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* @brief 主更新函数
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*
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* @param tracker
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* @param acc_g 三轴加速度，g
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* @param gyr_dps 三轴陀螺仪，dps
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* @param angle 欧若拉角
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* @param dt 采样时间间隔，会用来积分求速度
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*/
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void skiing_tracker_update(skiing_tracker_t *tracker, float *acc_g, float *gyr_dps, float *angle, float dt)
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{
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if (!tracker || !acc_g || !gyr_dps || !angle || dt <= 0) {
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return;
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}
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// --- 数据预处理和缓冲 ---
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float acc_device_ms2[3];
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acc_device_ms2[0] = acc_g[0] * G_ACCELERATION;
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acc_device_ms2[1] = acc_g[1] * G_ACCELERATION;
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acc_device_ms2[2] = acc_g[2] * G_ACCELERATION;
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// 将最新数据存入缓冲区
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memcpy(tracker->acc_buffer[tracker->buffer_index], acc_device_ms2, sizeof(acc_device_ms2));
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memcpy(tracker->gyr_buffer[tracker->buffer_index], gyr_dps, 3 * sizeof(float));
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tracker->buffer_index++;
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if (tracker->buffer_index >= VARIANCE_BUFFER_SIZE) {
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tracker->buffer_index = 0;
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tracker->buffer_filled = 1; // 标记缓冲区已满
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}
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// --- 更新状态机 ---
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update_state_machine(tracker, acc_device_ms2, gyr_dps);
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// --- 根据状态进行计算 ---
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if (tracker->state == SKIING_STATE_SKIING) {
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// 坐标转换 & 移除重力
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transform_acc_to_world_frame(acc_device_ms2, angle, tracker->acc_world);
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tracker->acc_world[2] -= G_ACCELERATION;
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// 对世界坐标系下的加速度进行高通滤波，消除直流偏置和重力残差
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for (int i = 0; i < 3; i++) {
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tracker->acc_world_filtered[i] = HPF_ALPHA * (tracker->acc_world_filtered[i] + tracker->acc_world[i] - tracker->acc_world_unfiltered_prev[i]);
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tracker->acc_world_unfiltered_prev[i] = tracker->acc_world[i];
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}
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// 应用加速度死区，忽略微小抖动和噪声
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float acc_horizontal_mag = sqrtf(tracker->acc_world_filtered[0] * tracker->acc_world_filtered[0] +
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tracker->acc_world_filtered[1] * tracker->acc_world_filtered[1]);
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if (acc_horizontal_mag > ACC_DEAD_ZONE_THRESHOLD) {
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// 只有当水平加速度足够大时，才进行速度积分
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tracker->velocity[0] += tracker->acc_world_filtered[0] * dt;
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tracker->velocity[1] += tracker->acc_world_filtered[1] * dt;
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// 垂直方向的速度暂时不积分，极易受姿态误差影响而漂移
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// tracker->velocity[2] += tracker->acc_world_filtered[2] * dt;
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}
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// 如果加速度小于阈值，则不更新速度，相当于速度保持不变（或受下一步的阻尼影响而衰减）
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} else {
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// 在静止或旋转状态下，速度已经在状态机内部被清零
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// 额外增加速度衰减，模拟摩擦力，进一步抑制漂移
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tracker->velocity[0] *= SPEED_ATTENUATION;
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tracker->velocity[1] *= SPEED_ATTENUATION;
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tracker->velocity[2] = 0; // 垂直速度强制归零
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}
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// --- 更新速率和距离 ---
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// 只基于水平速度计算速率和距离
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tracker->speed = sqrtf(tracker->velocity[0] * tracker->velocity[0] +
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tracker->velocity[1] * tracker->velocity[1]);
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tracker->distance += tracker->speed * dt;
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}
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BLE_KS_send_data_t KS_data;
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/**
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* @brief 传感器数据采集与处理任务，外部每10ms调用一次，如果需要更新时间间隔，也需要同步更新宏“ DELTA_TIME ”
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*
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* @param acc_data_buf 三轴加速度原始数据
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* @param gyr_data_buf 三轴陀螺仪原始数据
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* @return BLE_send_data_t
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*/
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BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short * gyr_data_buf) {
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static skiing_tracker_t my_skiing_tracker;
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static int initialized = 0;
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static int calibration_done = 0;
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static signed short combined_raw_data[6];
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static float final_angle_data[3]; // 计算得到的欧若拉角
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static float calibrated_acc_g[3]; // 转换后的加速度计数据
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static float calibrated_gyr_dps[3]; // 转换后的陀螺仪数据
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const float delta_time = DELTA_TIME;
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BLE_send_data_t BLE_send_data;
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if (!initialized) {
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skiing_tracker_init(&my_skiing_tracker);
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initialized = 1;
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printf("Skiing Tracker Initialized. Waiting for sensor calibration...\n");
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}
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memcpy(&combined_raw_data[0], acc_data_buf, 3 * sizeof(signed short));
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memcpy(&combined_raw_data[3], gyr_data_buf, 3 * sizeof(signed short));
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unsigned char status;
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if (!calibration_done) { //第1次启动，开启零漂检测
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status = SL_SC7U22_Angle_Output(1, combined_raw_data, final_angle_data, 0);
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if (status == 1) {
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calibration_done = 1;
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printf("Sensor calibration successful! Skiing mode is active.\n");
|
||||
}
|
||||
} else {
|
||||
// printf("Calculate the time interval =============== start\n");
|
||||
status = SL_SC7U22_Angle_Output(0, combined_raw_data, final_angle_data, 0);
|
||||
}
|
||||
|
||||
if (status == 1) {
|
||||
// 加速度 LSB to g
|
||||
calibrated_acc_g[0] = (float)combined_raw_data[0] / 8192.0f;
|
||||
calibrated_acc_g[1] = (float)combined_raw_data[1] / 8192.0f;
|
||||
calibrated_acc_g[2] = (float)combined_raw_data[2] / 8192.0f;
|
||||
|
||||
// 陀螺仪 LSB to dps (度/秒)
|
||||
// ±2000dps量程下，转换系数约为 0.061
|
||||
calibrated_gyr_dps[0] = (float)combined_raw_data[3] * 0.061f;
|
||||
calibrated_gyr_dps[1] = (float)combined_raw_data[4] * 0.061f;
|
||||
calibrated_gyr_dps[2] = (float)combined_raw_data[5] * 0.061f;
|
||||
|
||||
skiing_tracker_update(&my_skiing_tracker, calibrated_acc_g, calibrated_gyr_dps, final_angle_data, delta_time);
|
||||
|
||||
// static int count = 0;
|
||||
// if(count >= 10){
|
||||
// printf("State: %d, Speed: %.2f m/s, Distance: %.2f m\n",
|
||||
// my_skiing_tracker.state,
|
||||
// my_skiing_tracker.speed,
|
||||
// my_skiing_tracker.distance);
|
||||
// printf("calibrated_acc_g: %.2f, %.2f, %.2f\n",
|
||||
// calibrated_acc_g[0],
|
||||
// calibrated_acc_g[1],
|
||||
// calibrated_acc_g[2]);
|
||||
// count = 0;
|
||||
// } else {
|
||||
// count++;
|
||||
// }
|
||||
|
||||
BLE_send_data.sensor_state = status;
|
||||
BLE_send_data.skiing_state = my_skiing_tracker.state;
|
||||
for (int i = 0; i < 3; i++) {
|
||||
#ifndef XTELL_TEST
|
||||
BLE_send_data.acc_original[i] = (int)acc_data_buf[i];
|
||||
BLE_send_data.gyr_original[i] = (int)gyr_data_buf[i];
|
||||
#endif
|
||||
#if KS_BLE
|
||||
KS_data.acc_KS[i] = (int)(calibrated_acc_g[i] * G_ACCELERATION * 100); //cm/s^s
|
||||
KS_data.gyr_KS_dps[i] = (int)calibrated_gyr_dps[i];
|
||||
KS_data.angle_KS[i] = (int)final_angle_data[i];
|
||||
#endif
|
||||
}
|
||||
BLE_send_data.speed_cms = (int)(my_skiing_tracker.speed * 100);
|
||||
BLE_send_data.distance_cm = (int)(my_skiing_tracker.distance * 100);
|
||||
// printf("Calculate the time interval =============== end\n");
|
||||
} else if (status == 0) {
|
||||
memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
|
||||
BLE_send_data.sensor_state = status;
|
||||
#if KS_BLE
|
||||
memset(&KS_data, 0, sizeof(BLE_send_data_t));
|
||||
#endif
|
||||
// printf("Sensor is calibrating...\n");
|
||||
} else {
|
||||
memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
|
||||
BLE_send_data.sensor_state = status;
|
||||
#if KS_BLE
|
||||
memset(&KS_data, 0, sizeof(BLE_send_data_t));
|
||||
#endif
|
||||
// printf("Angle calculation error or calibration not finished.\n");
|
||||
}
|
||||
return BLE_send_data;
|
||||
}
|
||||
74
apps/earphone/xtell_Sensor/A_hide/7/skiing_tracker.h
Normal file
74
apps/earphone/xtell_Sensor/A_hide/7/skiing_tracker.h
Normal file
@ -0,0 +1,74 @@
|
||||
#ifndef SKIING_TRACKER_H
|
||||
#define SKIING_TRACKER_H
|
||||
|
||||
#include "../xtell.h"
|
||||
// 定义滑雪者可能的状态
|
||||
typedef enum {
|
||||
SKIING_STATE_STATIC, // 静止或动态稳定
|
||||
SKIING_STATE_SKIING, // 正在滑雪
|
||||
SKIING_STATE_ROTATING, // 正在原地旋转 (新增)
|
||||
SKIING_STATE_FALLEN, // 已摔倒
|
||||
SKIING_STATE_UNKNOWN // 未知状态
|
||||
} skiing_state_t;
|
||||
|
||||
#define VARIANCE_BUFFER_SIZE 5 // 用于计算方差的数据窗口大小 (5个样本 @ 100Hz = 50ms)，减小延迟，提高实时性
|
||||
#define DELTA_TIME 0.01f
|
||||
|
||||
|
||||
// 追踪器数据结构体
|
||||
typedef struct {
|
||||
// 公开数据
|
||||
float velocity[3]; // 当前速度 (x, y, z)，单位: m/s
|
||||
float distance; // 总滑行距离，单位: m
|
||||
float speed; // 当前速率 (标量)，单位: m/s
|
||||
skiing_state_t state; // 当前滑雪状态
|
||||
|
||||
// 内部计算使用的私有成员
|
||||
float acc_world[3]; // 在世界坐标系下的加速度
|
||||
|
||||
// --- 内部计算使用的私有成员 ---
|
||||
// 用于动态零速更新和旋转检测的缓冲区
|
||||
float acc_buffer[VARIANCE_BUFFER_SIZE][3]; // 加速度数据窗口
|
||||
float gyr_buffer[VARIANCE_BUFFER_SIZE][3]; // 角速度数据窗口
|
||||
int buffer_index; // 缓冲区当前索引
|
||||
int buffer_filled; // 缓冲区是否已填满的标志
|
||||
|
||||
// 用于高通滤波器（巴特沃斯一阶滤波器）的私有成员，以消除加速度的直流偏置
|
||||
float acc_world_filtered[3]; //过滤过的
|
||||
float acc_world_unfiltered_prev[3]; //上一次没过滤的
|
||||
} skiing_tracker_t;
|
||||
|
||||
//ble发送的数据
|
||||
typedef struct __attribute__((packed)){ //该结构体取消内存对齐
|
||||
char sensor_state;
|
||||
char skiing_state;
|
||||
int speed_cms; //求出的速度，cm/s
|
||||
int distance_cm; //求出的距离，cm
|
||||
#ifndef XTELL_TEST
|
||||
int acc_original[3]; //直接读取传感器得到的原始三轴加速度
|
||||
int gyr_original[3]; //直接读取传感器得到的原始三轴陀螺仪
|
||||
#endif
|
||||
}BLE_send_data_t;
|
||||
|
||||
typedef struct{
|
||||
int acc_KS[3]; //卡尔曼后，LSB转换后的 三轴加速度数据（cm/s^2）
|
||||
int gyr_KS_dps[3]; //卡尔曼后，LSB to dps 三轴陀螺仪数据
|
||||
int angle_KS[3]; //卡尔曼后，计算得到的欧若拉角数据
|
||||
}BLE_KS_send_data_t;
|
||||
|
||||
/**
|
||||
* @brief 初始化滑雪追踪器
|
||||
*
|
||||
* @param tracker 指向 skiing_tracker_t 结构体的指针
|
||||
*/
|
||||
void skiing_tracker_init(skiing_tracker_t *tracker);
|
||||
|
||||
/**
|
||||
* @brief 传感器数据采集与处理任务，外部每10ms调用一次，如果需要更新时间间隔，也需要同步更新宏“ DELTA_TIME ”
|
||||
*
|
||||
* @param acc_data_buf 三轴加速度原始数据
|
||||
* @param gyr_data_buf 三轴陀螺仪原始数据
|
||||
* @return BLE_send_data_t
|
||||
*/
|
||||
BLE_send_data_t sensor_processing_task(signed short * acc_data_buf, signed short * gyr_data_buf) ;
|
||||
#endif // SKIING_TRACKER_H
|
||||
Reference in New Issue
Block a user