九轴算法修改

Assets/BowArrow/Scripts/Bluetooth/o09AxisCS.cs

@@ -12,14 +12,19 @@ public class o09AxisCS
         public long TimeGap;
         public Vector3 Acc = AccIdentity;
         public Vector3 AccSmooth = AccIdentity;
-        public double AccVariance = 1;
 
         public Vector3 Gyr;
         public Vector3 Mag = MagIdentity;
         public Vector3 MagSmooth = MagIdentity;
         public Quaternion Qua = Quaternion.identity;
         public Quaternion QuaSmooth = Quaternion.identity;
-        public double Variance = 1;
+        public double GyrVariance = 1;
+        public double AccVariance = 1;
+        public double MagVariance = 1;
+        public Quaternion QuaAccMag = Quaternion.identity;
+        public int QuaAccMagCount = 0;
+        public double AccMagVariance = 1;
+        public double TotalVariance = 1;
     }
 
     o0Project.Variance HardwareVarianceGyr = new o0Project.Variance(1000);
@@ -37,15 +42,17 @@ public class o09AxisCS
     public float z;
 
     long TimeGapOld;
-    o0Aien.o0WeightedAverageFilterVector3 AccFilter = new o0Aien.o0WeightedAverageFilterVector3(5);
-    o0Aien.o0WeightedAverageFilterVector3 MagFilter = new o0Aien.o0WeightedAverageFilterVector3(10);
-         
+    o0Aien.o0WeightedAverageFilterVector3 AccFilter = new o0Aien.o0WeightedAverageFilterVector3(1);
+    o0Aien.o0WeightedAverageFilterVector3 MagFilter = new o0Aien.o0WeightedAverageFilterVector3(1);
+
+
+
     public Quaternion update(Vector3 AccOld, Vector3 GyrOld, Vector3 MagOld, long TimeGapOld)
     {
         o0UIRawImageTester.UpdateAllOffset();
 
         var Acc = this.AccOld;
-        var Gyr = (this.GyrOld + GyrOld)/2;
+        var Gyr = (this.GyrOld + GyrOld) / 2;
         var Mag = this.MagOld;
         float TimeGap = this.TimeGapOld;
         this.AccOld = AccOld;
@@ -62,11 +69,11 @@ public class o09AxisCS
         state.Acc = Acc;
 
         state.AccSmooth = AccFilter.Update(Acc);
-        
+
         state.Gyr = Gyr;
         state.Mag = Mag;/**/
         state.MagSmooth = MagFilter.Update(Mag);
-        if (States.Count <=1)
+        if (States.Count <= 1)
             return Quaternion.identity;
 
         HardwareVarianceGyr.Update((Gyr).magnitude);//每毫秒方差2.331017E-09 度左右   0.00000002331017
@@ -75,30 +82,66 @@ public class o09AxisCS
 
         var LastQuaternion = Last.Qua;
 
-        var newQua = new Quaternion();
-        newQua.eulerAngles = Gyr * TimeGap;
-        var quaGyr = LastQuaternion * newQua;
 
-        double AccLengthToAngle = 5;//1倍引力差相当于多少度方差
-        double MagLengthToAngle = 5;//1倍磁力差相当于多少度方差
 
-        double GyrVariance = Last.Variance + Math.Pow((Gyr * TimeGap).magnitude * 0.3,3);// 指数4 = 方差2 * 欧拉角旋转误差2     移动导致累计误差
-        double AccVariance = Math.Max((Gyr * TimeGap).magnitude, Vector3.Angle(state.AccSmooth, Last.AccSmooth)) * 1 + Math.Pow(Math.Abs(state.AccSmooth.magnitude - 9.8) / 9.8 * AccLengthToAngle,4);
-        double MagVariance = Math.Max((Gyr * TimeGap).magnitude, Vector3.Angle(state.MagSmooth, Last.MagSmooth)) * 1 + Math.Pow(Math.Abs(state.MagSmooth.magnitude - 1) / 1 * MagLengthToAngle,4);/**/
+        var GyrOperator = new Quaternion();
+        GyrOperator.eulerAngles = Gyr * TimeGap;
+        var quaGyr = LastQuaternion * GyrOperator;
+
+        double AccLengthToAngle = 360;//1倍引力差相当于多少度方差
+        double MagLengthToAngle = 360;//1倍磁力差相当于多少度方差
+
+        double GyrVariance = 1 + Math.Pow((Gyr * TimeGap).magnitude, 2);//陀螺仪移动向量
+        double AccVariance = Math.Pow(Math.Max((Gyr * TimeGap).magnitude, Vector3.Angle(state.AccSmooth, Last.AccSmooth)), 2)
+            + (Math.Abs(state.AccSmooth.magnitude - 9.8) > 0.1 ? Math.Pow(Math.Abs(state.AccSmooth.magnitude - 9.8) / 9.8 * AccLengthToAngle, 4) : 0);
+        double MagVariance = Math.Pow(3, 2)
+            + (Math.Abs(state.MagSmooth.magnitude - 1) > 0.1 ? Math.Pow(Math.Abs(state.MagSmooth.magnitude - 1) * MagLengthToAngle, 4) : 0);//指数4其中2是引力2是方差/**/
+
+        //double AccGyrVariance = Last.AccVariance + GyrVariance;
+        //double MagGyrVariance = Last.MagVariance + GyrVariance;// 指数4 = 方差2 * 欧拉角旋转误差2     移动导致累计误差
+
+        //Debug.Log((Gyr * TimeGap).magnitude * 0.1);
 
-        state.Variance = GyrVariance;
-        state.Variance = state.Variance * (AccVariance+ MagVariance) / (state.Variance + (AccVariance + MagVariance));
 
+        //state.MagVariance = MagGyrVariance;
+        //state.MagVariance = state.MagVariance * MagVariance / (state.MagVariance + MagVariance);
+        //state.AccVariance = AccGyrVariance;
+        //state.AccVariance = state.AccVariance * AccVariance / (state.AccVariance + AccVariance);
+
+        //if (double.IsNaN(MagGyrVariance))
+        //    MagGyrVariance = double.MinValue;
         if (double.IsNaN(GyrVariance))
             GyrVariance = double.MinValue;
         if (double.IsNaN(AccVariance))
             AccVariance = double.MinValue;
         if (double.IsNaN(MagVariance))
             MagVariance = double.MinValue;
-        if (double.IsNaN(state.Variance))
-            state.Variance = double.MinValue;
+        if (double.IsNaN(state.GyrVariance))
+            state.GyrVariance = double.MinValue;
+        if (double.IsNaN(state.AccVariance))
+            state.AccVariance = double.MinValue;
+        if (double.IsNaN(state.MagVariance))
+            state.MagVariance = double.MinValue;
+
+        /////////////////////////////////////////////////临时代码
+
+
+        //var quaAccMag = o0Project.o0.FormQuaternion(AccIdentity, MagIdentity, state.AccSmooth, state.MagSmooth, (float)(AccVariance / (AccVariance + MagVariance)));
+
+        //var tempQuaGyr = Quaternion.Slerp(Last.QuaSmooth, state.Qua, 0.5f);
 
-        var quaAccMag = o0Project.o0.FormQuaternion(AccIdentity, MagIdentity, state.AccSmooth, state.MagSmooth, (float)(AccVariance / (AccVariance + MagVariance)));
+        var quaAccMag = o0Project.o0.FormQuaternion(AccIdentity, MagIdentity, state.AccSmooth, state.MagSmooth, 1);
+        /*
+        if (state.QuaAccMagCount == 0)
+            state.QuaAccMag = quaAccMag;
+        else
+            state.QuaAccMag = Quaternion.Slerp(state.QuaAccMag, quaAccMag, state.QuaAccMagCount / (state.QuaAccMagCount + 1));
+        ++state.QuaAccMagCount;/**/
+
+        ///////////////////////////////////////////////////
+        //var quaMagRate = MagGyrVariance / (MagGyrVariance + MagVariance);
+        //var quaAccRate = MagGyrVariance / (MagGyrVariance + MagVariance);
+        /*
 
         var quaMinRate = GyrVariance / (GyrVariance + Math.Max(AccVariance, MagVariance));
         var quaMaxRate = GyrVariance / (GyrVariance + Math.Min(AccVariance, MagVariance));
@@ -109,39 +152,125 @@ public class o09AxisCS
         var quaSecondRate = (quaMaxRate - quaMinRate) / (1 - quaMinRate);
 
         state.Qua = AccVariance < MagVariance ? o0Project.o0.FormQuaternion(quaFirst, AccIdentity, state.AccSmooth, (float)quaSecondRate) : o0Project.o0.FormQuaternion(quaFirst, MagIdentity, state.MagSmooth, (float)quaSecondRate);
-        
+        /**/
+        var AccMagVariance = AccVariance + MagVariance;
+        if (GyrVariance > 2f)
+        {
+            state.AccMagVariance = 25;
+            state.QuaAccMag = quaGyr;
+        }
+        else
+        {
+            state.AccMagVariance = Math.Min(Last.AccMagVariance + Math.Max(GyrVariance - 1.0, 0), 10000);
+            state.QuaAccMag = Quaternion.Slerp(Last.QuaAccMag, quaAccMag, (float)(state.AccMagVariance / (state.AccMagVariance + AccMagVariance)));
+            state.AccMagVariance = state.AccMagVariance * AccMagVariance / (state.AccMagVariance + AccMagVariance);
+        }
+
+
+
+        var modelVariance = Math.Max(GyrVariance - 1.1, 0) * 0.05;
+
+        state.GyrVariance = Math.Min(Last.GyrVariance + GyrVariance, 10000);
+        //quaGyr = Quaternion.Slerp(Last.QuaSmooth, quaGyr, (float)(state.GyrVariance / (state.GyrVariance + GyrVariance)));
+        state.GyrVariance = state.GyrVariance * GyrVariance / (state.GyrVariance + GyrVariance);
+
+        /*
+        if (state.AccMagVariance < GyrVariance && 1f > Last.GyrVariance)
+        {
+            Debug.Log("o0 static");
+            quaGyr = Quaternion.Slerp(Last.QuaSmooth, quaGyr, (float)(state.AccMagVariance / (state.AccMagVariance + GyrVariance)));
+        }/**/
+
+        state.MagVariance = Math.Min(Last.MagVariance + modelVariance, 10000);
+        state.Qua = o0Project.o0.FormQuaternion(quaGyr, MagIdentity, state.MagSmooth, (float)(state.MagVariance / (state.MagVariance + MagVariance)));
+        state.MagVariance = state.MagVariance * MagVariance / (state.MagVariance + MagVariance);
+
+
+        state.AccVariance = Math.Min(Last.AccVariance + modelVariance, 10000);
+        //state.Qua = o0Project.o0.FormQuaternion(state.Qua, AccIdentity, state.AccSmooth, (float)(state.AccVariance / (state.AccVariance + AccVariance)));
+        //state.AccVariance = state.AccVariance * AccVariance / (state.AccVariance + AccVariance);
+        state.Qua = Quaternion.Slerp(state.Qua, quaAccMag, (float)(state.AccVariance / (state.AccVariance + AccMagVariance)));
+        state.AccVariance = state.AccVariance * AccMagVariance / (state.AccVariance + AccMagVariance);
+
+        ///////////////////////////////////////////////////////////////
+        ///
+        //var AccMagVariance = Math.Sqrt(AccVariance * AccVariance + MagVariance * MagVariance);
+
+
+
+
+        /*
+        state.TotalVariance = Math.Min(Last.TotalVariance + modelVariance * 0.3, 10000);
+        if (state.TotalVariance > 25)
+            state.TotalVariance = 25;
+        if (state.AccMagVariance < 4)
+        {
+            state.Qua = Quaternion.Slerp(state.Qua, state.QuaAccMag, (float)(state.TotalVariance / (state.TotalVariance + state.AccMagVariance)));
+            state.TotalVariance = state.TotalVariance * state.AccMagVariance / (state.TotalVariance + state.AccMagVariance);
+        }/**/
+
+
+        ///////////////////////////////////////////////////////////////
+
+
         if (float.IsNaN(state.Qua.w))
             state.Qua = Last.Qua;/**/
-        state.QuaSmooth = Quaternion.Slerp(Last.QuaSmooth, state.Qua, 0.3f);
+        state.QuaSmooth = Quaternion.Slerp(Last.QuaSmooth, state.Qua, 0.3f);//Last.QuaSmooth - state.Qua    0 - 1
 
         var frontV = Last.Qua * Vector3.forward;
         var upV = Last.Qua * Vector3.up;
 
-        x = (Mathf.Atan(upV.y / upV.z) / Mathf.PI * 180 + (upV.z < 0 ? 90:270));
-        y = (Mathf.Atan(frontV.z / frontV.x) / Mathf.PI * 180+(frontV.x < 0 ? 90:270));
-        z = (Mathf.Atan(upV.y / upV.x) / Mathf.PI * 180 + (upV.x < 0 ? 90:270));
+        x = (Mathf.Atan(upV.y / upV.z) / Mathf.PI * 180 + (upV.z < 0 ? 90 : 270));
+        y = (Mathf.Atan(frontV.z / frontV.x) / Mathf.PI * 180 + (frontV.x < 0 ? 90 : 270));
+        z = (Mathf.Atan(upV.y / upV.x) / Mathf.PI * 180 + (upV.x < 0 ? 90 : 270));
 
-        return state.Qua;
+
+        //QuaTest[0] = o0Project.o0.FormQuaternion(QuaTest[0] * GyrOperator, AccIdentity, state.AccSmooth, 1);
+        //QuaTest[1] = o0Project.o0.FormQuaternion(QuaTest[1] * GyrOperator, MagIdentity, state.MagSmooth, 1);
+        //Debug.Log(o09AxisCS.QuaTest[0]);
+        return state.QuaSmooth;
     }
 
     public void SetIdentity()
     {
-        Quaternion qua = default;
-        AccIdentity = AccOld;
-        MagIdentity = MagOld;
-        qua = o0Project.o0.FormQuaternion(Quaternion.identity, Vector3.down,AccIdentity, 1);
-        AccIdentity=qua*AccIdentity;
-        MagIdentity = qua*MagIdentity;
+        //Quaternion qua = default;
+
+        int averageCount = Math.Max(States.Count, 50);
+        Vector3 aveAcc = Vector3.zero;
+        Vector3 aveMag = Vector3.zero;
+        for (var i = 0; i < averageCount; ++i)
+        {
+            aveAcc += States[i].Acc;
+            aveMag += States[i].Mag;
+        }
+        aveAcc /= averageCount;
+        aveMag /= averageCount;
+        //AccIdentity = AccOld;
+        //MagIdentity = MagOld;
+        AccIdentity = aveAcc;
+        MagIdentity = aveMag;
+        //qua = o0Project.o0.FormQuaternion(Quaternion.identity, Vector3.down,AccIdentity, 1);
+        //AccIdentity=qua*AccIdentity;
+        //MagIdentity = qua*MagIdentity;
         States.Last().Qua = Quaternion.identity;
-        States.Last().Qua = qua*States.Last().Qua;//Quaternion.identity;
-        States.Last().Variance = 0.0000001;
+        States.Last().QuaSmooth = Quaternion.identity;
+        //States.Last().Qua = qua*States.Last().Qua;//Quaternion.identity;
+        States.Last().AccVariance = 0.0000001;
+        States.Last().GyrVariance = 0.0000001;
+        States.Last().MagVariance = 0.0000001;
+        States.Last().QuaAccMag = Quaternion.identity;
+        States.Last().QuaAccMagCount = 0;
+        States.Last().AccMagVariance = 0.0000001;
+        States.Last().TotalVariance = 0.0000001;
     }
 
-    public State getLastState() {
+    public State getLastState()
+    {
         return this.States.Last();
     }
 
-    public Vector3 getGyrOld() {
+    public Vector3 getGyrOld()
+    {
         return GyrOld;
     }
 }

Assets/BowArrow/Scripts/Bluetooth/o09AxisCSBridge.cs

@@ -1,4 +1,4 @@
-using UnityEngine;
+using UnityEngine;
 
 public class o09AxisCSBridge {
     o09AxisCS o09AxisCS = new o09AxisCS();
@@ -23,7 +23,7 @@ public class o09AxisCSBridge {
         state.MagSmooth = s.MagSmooth;
         state.Qua = s.Qua;
         state.QuaSmooth = s.QuaSmooth;
-        state.Variance = (float) s.Variance;
+        state.Variance = (float) s.AccVariance;
         return state;
     }
     public Vector3 GetAccIdentity_f() {