{"id":643,"date":"2016-06-16T15:04:33","date_gmt":"2016-06-17T00:04:33","guid":{"rendered":"\/blog\/?p=643"},"modified":"2023-09-21T09:38:01","modified_gmt":"2023-09-21T00:38:01","slug":"%ec%b9%bc%eb%a7%8c%ed%95%84%ed%84%b0-%ec%86%8c%ea%b0%9c","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=643","title":{"rendered":"\uce7c\ub9cc\ud544\ud130 \uc18c\uac1c"},"content":{"rendered":"\n

\ucd9c\ucc98 :\u00a0<\/span>http:\/\/fogeaters.cafe24.com\/xe\/board11\/12919<\/span><\/a><\/p>\n


<\/p>\n

\uce7c\ub9cc\ud544\ud130\ub294 Predict -> Update \uc758 \ub450 \uacfc\uc815\uc73c\ub85c \ubd84\ub9ac \uac00\ub2a5<\/span>
<\/div>
\ud55c\uac1c\uc758 \uc13c\uc11c\uac12 \uc774\uc6a9\ub3c4 \uac00\ub2a5\ud558\uace0 \ub450 \uac1c \uc774\uc0c1\uc758 \uc13c\uc11c\uac12\uc744 \uc0ac\uc6a9\ud560 \uc218\ub3c4 \uc788\ub2e4.<\/span><\/div>
\uc608\ub97c \ub4e4\uc5b4 \uac00\uc18d\ub3c4 + \uc790\uc774\ub85c \uc13c\uc11c\ub85c \uae30\uc6b8\uae30\ub97c \uce21\uc815\ud558\ub824 \ud560 \ub54c, Predict \ub294 \uc790\uc774\ub85c\uac12\uc744 \uc774\uc6a9\ud558\uace0 Update\ub294 \uac00\uc18d\ub3c4\uac12\uc744 \uc774\uc6a9\ud558\ub294 \uac83.<\/span><\/div>
\uc774\uc804\uac12\uc744 \uc774\uc6a9\ud55c \ud55c \uc21c\uac04\uc758 Predict \uc5d0\uc11c\ub294 \uc790\uc774\ub85c\uc758 \ub4dc\ub9ac\ud504\ud2b8\uac00 \uc5c6\ub2e4\uace0 \ubcfc \uc218 \uc788\uae30\uc5d0 \uc608\uce21\uc5d0 \uc720\uc6a9\ud558\ub2e4.<\/span><\/div>
====================================================================<\/span><\/div>

<\/div>
\uc774\ub860\uc740 \ubcf5\uc7a1\ud574\uc11c \uc81c\ub300\ub85c \uc124\uba85\ud558\uae30\ub294 \uc880 \ub9ce\uc774 \uc5b4\ub824\uc6b0\ub2c8 \uc544\ub798 \ucc38\uace0\uc790\ub8cc\ub97c \ucc38\uace0\ud558\uae30 \ubc14\ub780\ub2e4.<\/span><\/div>
\uadf8\ub9ac\uace0 \uadf8\ub0e5 \uac04\ub2e8\ud788 \ub0b4 \ucf54\ub4dc\ub97c \uc18c\uac1c\ud55c\ub2e4.<\/span><\/div>

<\/div>
\uc544\ub798 \ucf54\ub4dc\uc911\u00a0KalmanPredict2D<\/span>\u00a0\ud568\uc218\ub294 \uac00\uc18d\ub3c4 + \uc790\uc774\ub85c\uacc4\uc758 \uce7c\ub9cc \ud544\ud130 \uc608\uce21\uc5d0\ub9cc \uc801\uc6a9\ub418\ub294 \ud568\uc218\uc774\ub2e4. \uc2dc\uc2a4\ud15c\uc774 \ub2e4\ub974\uba74 \ub2ec\ub77c\uc9c4\ub2e4.<\/span><\/div>

<\/div>

<\/div>

<\/div>
struct SKalman1D{<\/span><\/div>
<\/span>double<\/span> <\/span>X;<\/span>\u00a0\u00a0<\/span>\/\/ \uc0c1\ud0dc \ud589\ub82c<\/span><\/div>
<\/span>double<\/span> <\/span>Q;<\/span>\u00a0\u00a0<\/span>\/\/ \uc13c\uc11c \ub178\uc774\uc988 \uacf5\ubd84\uc0b0 \uc0c1\uc218<\/span><\/div>
<\/span>double<\/span> <\/span>P;<\/span>\u00a0\u00a0<\/span>\/\/ \uc0c1\ud0dc \uacf5\ubd84\uc0b0 \ud589\ub82c<\/span><\/div>
<\/span>double<\/span> <\/span>R;<\/span>\u00a0\u00a0<\/span>\/\/ \uce21\uc815 \uacf5\ubd84\uc0b0 \ud589\ub82c<\/span><\/div>
};<\/span><\/div>

<\/div>
struct SKalman2D{<\/span><\/div>
<\/span>double<\/span> <\/span>X_0, X_1;<\/span>\u00a0\u00a0<\/span>\/\/ \uc0c1\ud0dc \ud589\ub82c<\/span><\/div>
<\/span>double<\/span> <\/span>Q_0, Q_1;<\/span>\u00a0\u00a0<\/span>\/\/ \uc13c\uc11c \ub178\uc774\uc988 \uacf5\ubd84\uc0b0 \uc0c1\uc218<\/span><\/div>
<\/span>double<\/span> <\/span>P_00, P_01, P_10, P_11;<\/span>\u00a0\u00a0<\/span>\/\/ \uc0c1\ud0dc \uacf5\ubd84\uc0b0 \ud589\ub82c<\/span><\/div>
<\/span>double<\/span> <\/span>R;<\/span>\u00a0\u00a0<\/span>\/\/ \uce21\uc815 \uacf5\ubd84\uc0b0 \ud589\ub82c<\/span><\/div>
};<\/span><\/div>

<\/div><\/div>
void KalmanPredictUpdate1D(SKalman1D *kalman, double NewData);<\/span><\/div>
virtual void KalmanPredict2D(SKalman2D *kalman, double NewX_1, double Dt); \u00a0<\/span>\/\/ \uc2dc\uc2a4\ud15c\ub9c8\ub2e4 \ub2ec\ub77c\uc9c8 \uc218 \uc788\uc74c. \uadf8\ub7f4 \uacbd\uc6b0 \uc624\ubc84\ub77c\uc774\ub529<\/span><\/div>
void KalmanUpdate2D(SKalman2D*, double NewX_0);<\/span><\/div><\/div>

<\/div>
\uc774\ub807\uac8c \ud568\uc218\ub294 \uc138\uac1c\uac00 \uc788\uace0..<\/span><\/div>
\uadf8 \uc815\uc758\ub294 \ub2e4\uc74c\uacfc \uac19\ub2e4.<\/span><\/div>

<\/div>
void CSensorBase::KalmanPredictUpdate1D(SKalman1D* Kalman, double NewData)<\/span><\/div>
{<\/span><\/div>
<\/span>double K;<\/span> <\/span>\/\/ Kalman gain<\/span><\/div>
<\/span><\/div>
<\/span>\/\/ Predict<\/span><\/div>
<\/span>\/\/ Kalman->X \ub294 1\ucc28\uc6d0\uc5d0\uc11c \uadf8\ub0e5 \uc608\uc804\uac12\uacfc \ub3d9\uc77c\ud560\uac70\ub77c \uc608\uce21\ub428(?)<\/span><\/div>
<\/span>Kalman->P = Kalman->P + Kalman->Q;<\/span><\/div>
<\/span><\/div>
<\/span>\/\/ Update<\/span><\/div>
<\/span>K = Kalman->P \/ (Kalman->P + Kalman->R);<\/span><\/div>
<\/span>Kalman->X = Kalman->X + K * (NewData - Kalman->X);<\/span><\/div>
<\/span>Kalman->P = (1 - K) * Kalman->P;<\/span><\/div>
}<\/span><\/div>

<\/div>
void CSensorBase::KalmanPredict2D(SKalman2D* Kalman, double NewX_1, double DeltaTime)<\/span><\/div>
{<\/span><\/div>
<\/span>\/\/ \uc790\uc774\ub85c + \uac00\uc18d\ub3c4\uacc4 \uae30\uc900<\/span><\/div>
<\/span>Kalman->X_0 += DeltaTime * (NewX_1 - Kalman->X_1);<\/span><\/div>
<\/span><\/div>
<\/span>Kalman->P_00 += DeltaTime * (DeltaTime*Kalman->P_11 - Kalman->P_01 - Kalman->P_10) + Kalman->Q_0;<\/span><\/div>
<\/span>Kalman->P_01 -= DeltaTime * Kalman->P_11;<\/span><\/div>
<\/span>Kalman->P_10 -= DeltaTime * Kalman->P_11;<\/span><\/div>
<\/span>Kalman->P_11 += Kalman->Q_1; \/\/ ?<\/span><\/div>
}<\/span><\/div>

<\/div>
void CSensorBase::KalmanUpdate2D(SKalman2D* Kalman, double NewX_0)<\/span><\/div>
{<\/span><\/div>
<\/span>double y = NewX_0 - Kalman->X_0;<\/span><\/div>
<\/span>double S = Kalman->P_00 + Kalman->R;<\/span><\/div>
<\/span>double K_0 = Kalman->P_00 \/ S;<\/span><\/div>
<\/span>double K_1 = Kalman->P_10 \/ S;<\/span><\/div>
<\/span>Kalman->X_0 += K_0 * y;<\/span><\/div>
<\/span>Kalman->X_1 += K_1 * y;<\/span><\/div>
<\/span>Kalman->P_00 -= K_0 * Kalman->P_00;<\/span><\/div>
<\/span>Kalman->P_01 -= K_0 * Kalman->P_01;<\/span><\/div>
<\/span>Kalman->P_10 -= K_1 * Kalman->P_00;<\/span><\/div>
<\/span>Kalman->P_11 -= K_1 * Kalman->P_01;<\/span><\/div>
}<\/span><\/div><\/div>

<\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/div>

<\/div>
\ucd08\uae30\ud654\ub294 \uc774\ub807\uac8c \ud574\uc900\ub2e4.<\/span><\/div>
X \ub294 \ud604\uc7ac \uc0c1\ud0dc\ub97c \uc758\ubbf8\ud55c\ub2e4. \uc790\uc774\ub85c + \uac00\uc18d\ub3c4\uacc4\uc758 \uacbd\uc6b0 X_0\uc740 \uac01\ub3c4, X_1\uc740 \uc790\uc774\ub85c \ud3b8\ucc28\ub97c \uc758\ubbf8\ud55c\ub2e4.<\/span><\/div>
Q\ub294 \ub178\uc774\uc988 \uacf5\ubd84\uc0b0 \uc0c1\uc218(\ubb3c\ub9ac\uc801 \uc2dc\uc2a4\ud15c\uc5d0 \ub530\ub77c \uacb0\uc815)\uc774\ub2e4. \uc801\uc808\ud55c \uac12\uc73c\ub85c \ucd08\uae30\ud654\ud574\uc8fc\uba74 \ub41c\ub2e4. (\ubcf4\ud1b5 \ubb3c\ub9ac\uc801 \uc2dc\uc2a4\ud15c \ubd84\uc11d\uc744 \ud1b5\ud574 \uad6c\ud55c\ub2e4)<\/span><\/div>
R\uc740 \uce21\uc815 \uacf5\ubd84\uc0b0 \ud589\ub82c\ub85c, \uce21\uc815\uacb0\uacfc\uc5d0 \uc5bc\ub9c8\ub098 \ub178\uc774\uc988\uac00 \uc11e\uc774\ub294\uc9c0\uc5d0 \ub300\ud55c \uc0c1\uc218\uc774\ub2e4. \uc801\uc808\ud55c \uac12\uc73c\ub85c \ucd08\uae30\ud654.<\/span><\/div>
P\ub294 \uc0c1\ud0dc \uacf5\ubd84\uc0b0 \ud589\ub82c\ub85c, \ucd08\uae30\ud654\uc2dc \uc815\uc9c0\uc0c1\ud0dc\uba74 0\uc73c\ub85c \uc804\ubd80 \uc8fc\uba74 \ub418\uace0, \ubd88\ud655\uc2e4\ud560\uc218\ub85d \ub300\uac01\uc131\ubd84\uc5d0 \ud070 \uac12\uc744 \uc8fc\uba74 \ub41c\ub2e4.<\/span><\/div>

<\/div>
void<\/span> <\/span>CMPU6050::InitKalmanRot(double Roll, double Pitch, double Yaw, double P)<\/span><\/div>
{<\/span><\/div>
<\/span>KalmanAngX.X_0 = Roll;<\/span><\/div>
<\/span>KalmanAngX.X_1 = 0;<\/span><\/div>
<\/span>KalmanAngX.Q_0 = 0.01;<\/span><\/div>
<\/span>KalmanAngX.Q_1 = 0.04;<\/span><\/div>
<\/span>KalmanAngX.R = 0.3;<\/span><\/div>
<\/span>KalmanAngX.P_00 = P;<\/span><\/div>
<\/span>KalmanAngX.P_01 = 0;<\/span><\/div>
<\/span>KalmanAngX.P_10 = 0;<\/span><\/div>
<\/span>KalmanAngX.P_11 = P;<\/span><\/div>
<\/span><\/div>
<\/span>KalmanAngY.X_0 = Pitch;<\/span><\/div>
<\/span>KalmanAngY.X_1 = 0;<\/span><\/div>
<\/span>KalmanAngY.Q_0 = 0.01;<\/span><\/div>
<\/span>KalmanAngY.Q_1 = 0.04;<\/span><\/div>
<\/span>KalmanAngY.R = 0.3;<\/span><\/div>
<\/span>KalmanAngY.P_00 = P;<\/span><\/div>
<\/span>KalmanAngY.P_01 = 0;<\/span><\/div>
<\/span>KalmanAngY.P_10 = 0;<\/span><\/div>
<\/span>KalmanAngY.P_11 = P;<\/span><\/div>
<\/span><\/div>
<\/span>YawAngle = Yaw;<\/span><\/div>
<\/span>YawHF.tau = 0.01; \/\/ \uc598\ub294 yaw \ub370\uc774\ud130\uc758 \ud558\uc774\ud328\uc2a4\ud544\ud130\uc5d0 \uc4f0\uc774\ub294 \uc0c1\uc218<\/span><\/div>
}<\/span><\/div><\/div>

<\/div>
\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/\/<\/span><\/div>

<\/div>
\uc774\uc81c \uad6c\ud604\ubd80\ubd84\uc744 \uc7a0\uae50 \uc0b4\ud3b4\ubcf4\uba74..<\/span><\/div>

<\/div>
#if MPU6050_CALIBRATEDACCGYRO == 1<\/span><\/div>
#define MPU6050_AXOFFSET 0<\/span><\/div>
#define MPU6050_AYOFFSET 0<\/span><\/div>
#define MPU6050_AZOFFSET 0<\/span><\/div>
#define MPU6050_AXGAIN 16384.0<\/span><\/div>
#define MPU6050_AYGAIN 16384.0<\/span><\/div>
#define MPU6050_AZGAIN 16384.0<\/span><\/div>
#define MPU6050_GXOFFSET -21<\/span><\/div>
#define MPU6050_GYOFFSET -10<\/span><\/div>
#define MPU6050_GZOFFSET -24<\/span><\/div>
#define MPU6050_GXGAIN 131<\/span><\/div>
#define MPU6050_GYGAIN 131<\/span><\/div>
#define MPU6050_GZGAIN 16.4<\/span><\/div>
#endif<\/span><\/div><\/div>

<\/div>

<\/div>
Vector CMPU6050::getConvRotateData(double DeltaTime) {<\/span><\/div>
<\/span>Vector AccelVec;<\/span><\/div>
<\/span>Vector GyroVec;<\/span><\/div>
<\/span>Vector Rotate;<\/span><\/div>
<\/span><\/div>
<\/span>mpu6050_readBytes(MPU6050_RA_ACCEL_XOUT_H, 14, (uint8_t *)buffer);<\/span><\/div>
<\/span>AccelVec.x = (((int16_t)buffer[0]) << 8) | buffer[1];<\/span><\/div>
<\/span>AccelVec.y = (((int16_t)buffer[2]) << 8) | buffer[3];<\/span><\/div>
<\/span>AccelVec.z = (((int16_t)buffer[4]) << 8) | buffer[5];<\/span><\/div>
<\/span>GyroVec.x = (((int16_t)buffer[8]) << 8) | buffer[9];<\/span><\/div>
<\/span>GyroVec.y = (((int16_t)buffer[10]) << 8) | buffer[11];<\/span><\/div>
<\/span>GyroVec.z = (((int16_t)buffer[12]) << 8) | buffer[13];<\/span><\/div>

<\/div>
<\/span>#if MPU6050_CALIBRATEDACCGYRO == 1<\/span><\/div>
<\/span>AccelVec.x = (double)(AccelVec.x-MPU6050_AXOFFSET);<\/span><\/div>
<\/span>AccelVec.y = (double)(AccelVec.y-MPU6050_AYOFFSET);<\/span><\/div>
<\/span>AccelVec.z = (double)(AccelVec.z-MPU6050_AZOFFSET);<\/span><\/div>
<\/span>GyroVec.x = (double)(GyroVec.x-MPU6050_GXOFFSET)\/MPU6050_GXGAIN;<\/span><\/div>
<\/span>GyroVec.y = (double)(GyroVec.y-MPU6050_GYOFFSET)\/MPU6050_GYGAIN;<\/span><\/div>
<\/span>GyroVec.z = (double)(GyroVec.z-MPU6050_GZOFFSET)\/MPU6050_GZGAIN;<\/span><\/div>
<\/span>#else<\/span><\/div>
<\/span>GyroVec.x = (double)(GyroVec.x)\/MPU6050_GGAIN;<\/span><\/div>
<\/span>GyroVec.y = (double)(GyroVec.y)\/MPU6050_GGAIN;<\/span><\/div>
<\/span>GyroVec.z = (double)(GyroVec.z)\/MPU6050_GGAIN;<\/span><\/div>
<\/span>#endif<\/span><\/div>
<\/span><\/div>
<\/span>if(bKalmanFiler){<\/span><\/div>
<\/span>KalmanPredict2D(&KalmanAngX, GyroVec.x, DeltaTime);<\/span><\/div>
<\/span>KalmanPredict2D(&KalmanAngY, GyroVec.y, DeltaTime);<\/span><\/div>
<\/span>KalmanUpdate2D(&KalmanAngX, atan2(AccelVec.x, AccelVec.z) * 180 \/ 3.141592);<\/span><\/div>
<\/span>KalmanUpdate2D(&KalmanAngY, atan2(AccelVec.y, AccelVec.z) * 180 \/ 3.141592);<\/span><\/div>
<\/span>High<\/span>PassFilter(&YawHF, YawAngle + GyroVec.z \u00a0* DeltaTime, DeltaTime);<\/span><\/div>
<\/span>YawAngle = YawHF.FilterData;<\/span><\/div>
<\/span>Rotate.x = KalmanAngX.X_0;<\/span><\/div>
<\/span>Rotate.y = KalmanAngY.X_0;<\/span><\/div>
<\/span>Rotate.z = YawAngle;<\/span><\/div>
<\/span>return Rotate;<\/span><\/div>
<\/span>}<\/span><\/div>
<\/span><\/div>
<\/span>YawAngle = YawAngle + GyroVec.z * DeltaTime;<\/span><\/div>
<\/span>Rotate.x = atan2(AccelVec.x, AccelVec.z) * 180 \/ 3.141592;<\/span><\/div>
<\/span>Rotate.y = atan2(AccelVec.y, AccelVec.z) * 180 \/ 3.141592;<\/span><\/div>
<\/span>Rotate.z = YawAngle;<\/span><\/div>
<\/span>return Rotate;<\/span><\/div>
}<\/span><\/div>

<\/span><\/div>
\ucc38\uace0\uc790\ub8cc<\/span><\/div>
https:\/\/ko.wikipedia.org\/wiki\/%EC%B9%BC%EB%A7%8C_%ED%95%84%ED%84%B0<\/span><\/a><\/span><\/div>
http:\/\/blog.naver.com\/heennavi1004\/10183064672<\/span><\/a><\/span><\/div>
http:\/\/egloos.zum.com\/spaurh\/v\/4488676<\/span><\/a><\/span><\/div>
http:\/\/pinkwink.kr\/781<\/span><\/a><\/span><\/div>
http:\/\/hangondragon.blogspot.kr\/2009\/05\/kalman-filter-part-2-kalman-filter.html<\/span><\/a><\/span><\/div>
http:\/\/blog.naver.com\/PostView.nhn?blogId=msnayana&logNo=80107534127<\/span><\/a><\/span><\/div>
http:\/\/blog.naver.com\/helloktk\/80032439565<\/span><\/a><\/span><\/div><\/div><\/div>\n","protected":false},"excerpt":{"rendered":"

\ucd9c\ucc98 :\u00a0http:\/\/fogeaters.cafe24.com\/xe\/board11\/12919 \uce7c\ub9cc\ud544\ud130\ub294 Predict -> Update \uc758 \ub450 \uacfc\uc815\uc73c\ub85c \ubd84\ub9ac \uac00\ub2a5 \ud55c\uac1c\uc758 \uc13c\uc11c\uac12 \uc774\uc6a9\ub3c4 \uac00\ub2a5\ud558\uace0 \ub450 \uac1c \uc774\uc0c1\uc758 \uc13c\uc11c\uac12\uc744 \uc0ac\uc6a9\ud560 \uc218\ub3c4 \uc788\ub2e4. \uc608\ub97c \ub4e4\uc5b4 \uac00\uc18d\ub3c4 + \uc790\uc774\ub85c \uc13c\uc11c\ub85c \uae30\uc6b8\uae30\ub97c \uce21\uc815\ud558\ub824 \ud560 \ub54c, Predict \ub294 \uc790\uc774\ub85c\uac12\uc744 \uc774\uc6a9\ud558\uace0 Update\ub294 \uac00\uc18d\ub3c4\uac12\uc744 \uc774\uc6a9\ud558\ub294 \uac83. \uc774\uc804\uac12\uc744 \uc774\uc6a9\ud55c \ud55c \uc21c\uac04\uc758 Predict \uc5d0\uc11c\ub294 \uc790\uc774\ub85c\uc758 \ub4dc\ub9ac\ud504\ud2b8\uac00 \uc5c6\ub2e4\uace0 \ubcfc \uc218 \uc788\uae30\uc5d0 \uc608\uce21\uc5d0 \uc720\uc6a9\ud558\ub2e4. ==================================================================== […]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center 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