调试

调试功能/算法校准信息调试2023-1-10/VariTester/VariTester.cs

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+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.UI;
+
+public class VariTester : MonoBehaviour
+{
+    static VariTester ins;
+
+    [SerializeField] Text text;
+    [SerializeField] InputField inputField;
+    [SerializeField] Text textAny;
+
+    void Awake()
+    {
+        if (ins) Destroy(gameObject); 
+        else {
+            ins = this;
+            DontDestroyOnLoad(this);
+            text.text = "当前参数值为：" + o0.Bow.o09AxisAfterXiaMenFromDll.vari.ToString();
+            inputField.onEndEdit.AddListener((s) => {
+                double num = double.Parse(s);
+                if (double.IsNaN(num) || double.IsInfinity(num)) return;
+                o0.Bow.o09AxisAfterXiaMenFromDll.vari = num;
+                text.text = "当前参数值为：" + o0.Bow.o09AxisAfterXiaMenFromDll.vari.ToString();
+            });
+        }    
+    }
+
+    void LateUpdate() {
+        textAny.text = o0.Bow.o09AxisAfterXiaMenFromDll.debugInfo;
+    }
+}

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调试功能/算法校准信息调试2023-1-10/o09AxisAfterXiaMenFromDll.cs

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+using o0.Geometry;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+
+namespace o0.Bow
+{
+    public class o09AxisAfterXiaMenFromDll//卡尔曼滤波优化地磁计向量版
+    {
+        public IMU._9AxisPreProcessor Attitude;
+        public IMU.HardwareVariance GyrHardwareVariance;
+        public IMU.HardwareVariance AccHardwareVariance;
+        public IMU.HardwareVariance MagHardwareVariance;
+
+        // public static List<UnityEngine.Quaternion> QuaTest = new List<UnityEngine.Quaternion>();
+        public o09AxisAfterXiaMenFromDll(Vector<int> GyrByteIndex = default, Vector<int> AccByteIndex = default, Vector<int> MagByteIndex = default)
+        {
+            Attitude = new IMU._9AxisPreProcessor(GyrByteIndex, AccByteIndex, MagByteIndex);
+            GyrHardwareVariance = new IMU.HardwareVariance();
+            AccHardwareVariance = new IMU.HardwareVariance();
+            MagHardwareVariance = new IMU.HardwareVariance();
+
+            // QuaTest.Add(UnityEngine.Quaternion.identity);
+            // QuaTest.Add(UnityEngine.Quaternion.identity);
+        }
+
+        static public Vector<double> AccIdentity = new Vector<double>(0, -1, 0);
+        static public Vector<double> MagIdentity = new Vector<double>(-1, 2, 0).Normalized;
+        public class State
+        {
+            public double TimeGap;
+            public Vector<double> Acc = AccIdentity;
+            public Vector<double> AccSmooth = AccIdentity;
+
+            public Vector<double> Gyr;
+            public Vector<double> Mag = MagIdentity;
+            public Vector<double> MagSmooth = MagIdentity;
+
+            public double GapMS;
+
+            public Geometry.Quaternion Qua = Geometry.Quaternion.Identity;
+            public Geometry.Quaternion QuaSmooth = Geometry.Quaternion.Identity;
+            public double Variance = 1;
+            public double GyrVariance = 1;
+            public double AccVariance = 1;
+            public double MagVariance = 1;
+            public Geometry.Quaternion QuaAccMag = Geometry.Quaternion.Identity;
+            public int QuaAccMagCount = 0;
+            public double AccMagVariance = 1;
+            public double TotalVariance = 1;
+        }
+
+
+        public List<State> States = new List<State>();
+        public int StatesMaxCount = 1000;
+
+
+        public Geometry.Quaternion Update(IEnumerable<byte> gyrByte, IEnumerable<byte> accByte, IEnumerable<byte> magByte,
+            byte min, byte sec, byte ms1, byte ms2)
+        {
+            var (Gyr, Acc, Mag, TimeGap) = Attitude.Update(gyrByte, accByte, magByte, min, sec, ms1, ms2);
+            if((Gyr, Acc, Mag, TimeGap) == default)
+                return Geometry.Quaternion.Identity;
+
+
+            Vector<double> Buffer = default;
+            Buffer = GyrHardwareVariance.Update(Attitude.LastGyr);
+            if (Buffer != default)
+                Debug.Log("GyrHardwareVariance: " + Buffer.Length);
+            Buffer = AccHardwareVariance.Update(Acc);
+            if (Buffer != default)
+                Debug.Log("AccHardwareVariance: " + Buffer.Length);
+            Buffer = MagHardwareVariance.Update(Mag);
+            if (Buffer != default)
+                Debug.Log("MagHardwareVariance: " + Buffer.Length);
+
+            // var GyrOperator = Geometry.Quaternion.Euler(Gyr * TimeGap);
+            // TestVector.Update9AxisRotation(GyrOperator.ToUnityQuaternion(), 0);
+            // TestVector.SetAcc(Acc.ToUnityVector(), 0);
+            // TestVector.SetMag(Mag.ToUnityVector(), 0);
+
+
+            var Last = States.LastOrDefault() ?? new State();
+            States.Add(new State());
+            if (States.Count > StatesMaxCount)
+                States.RemoveAt(0);
+            var state = States.Last();
+            state.Acc = Acc;
+
+
+            //Debug.Log(Gyr.magnitude);
+
+            state.Gyr = Gyr;
+            state.Mag = Mag;/**/
+            state.TimeGap = TimeGap;
+            if (States.Count <= 1)
+                return Geometry.Quaternion.Identity;
+            return Process9Axis(Last, state);
+        }
+        int ShakeFrame;
+        int AccVarianceInput;
+        /// //////////////////向前追溯多少帧//向后多少帧计算抖动
+        public void OnShot(int TrackBack, int ShakeFrame, int AccVarianceInput)
+        {
+            this.AccVarianceInput = AccVarianceInput;
+            TrackBack = Math.Min(TrackBack, States.Count);
+            var startI = States.Count - TrackBack;
+            State Last = default;
+            foreach (var i in TrackBack.Range())
+            {
+                var state = States[startI + i];
+
+                if (Last != default)
+                    Process9Axis(Last, state);
+                Last = state;
+            }
+
+            this.ShakeFrame = ShakeFrame;
+            Debug.Log("OnShot");/**/
+        }
+        //public double diff = 0.001;
+        public double diff = 0.0001;
+
+        public void MagSmooth(State Last, State state)
+        {
+            var Acc = state.Acc;
+            var Gyr = state.Gyr;
+            var Mag = state.Mag;
+            double TimeGap = state.TimeGap;
+            double GyrVariance = Last.MagVariance + Math.Pow((Gyr * TimeGap).Length, 2);
+            double AccVariance = AccVarianceInput != default ? AccVarianceInput : Math.Pow((Gyr * TimeGap).Length * 1, 2) + Math.Pow(Math.Abs(Acc.Length - 1) / 1 * 30, 2);
+            double MagVariance = 25;
+
+            state.AccSmooth = Last.AccSmooth + (state.Acc - Last.AccSmooth) * GyrVariance / (AccVariance + GyrVariance);
+            state.AccVariance = (GyrVariance + AccVariance) / GyrVariance / AccVariance;
+            state.MagSmooth = Last.MagSmooth + (state.Mag - Last.MagSmooth) * GyrVariance / (MagVariance + GyrVariance);
+            state.MagVariance = (GyrVariance + MagVariance) / GyrVariance / MagVariance;
+
+            // TestVector.SetAcc(state.AccSmooth.ToUnityVector(), 1);
+            // TestVector.SetMag(state.MagSmooth.ToUnityVector(), 1);
+        }
+        public static double vari = 0.001;
+        public double CalGyrVariance(State Last, State state)
+        {
+            //return Last.Variance + (state.Gyr * state.TimeGap).Length * 0.3 + 0.001;
+            return Last.Variance + (state.Gyr * state.TimeGap).Length * 0.3 + vari * state.TimeGap;//0.00000002331017
+        }
+        public double CalAccVariance(State Last, State state)
+        {
+            double AccLengthToAngle = 10000;//1倍引力差相当于多少度方差
+            return AccVarianceInput != default ? AccVarianceInput :
+                Math.Max(
+                    (state.Gyr * state.TimeGap).Length * 1000 ,
+                    Math.Abs(state.Acc.Length - 1) * AccLengthToAngle
+                );
+            //return AccVarianceInput != default ? AccVarianceInput : Math.Max((state.Gyr * state.TimeGap).Length, AccAngleDiff) * 1 + Math.Pow(Math.Abs(state.Acc.Length - 1) / 1 * AccLengthToAngle, 4);
+        }
+        public double CalMagVariance(State Last, State state)
+        {
+            return 100;
+        }
+        public (double, double, double) CalVariance(State Last, State state)
+        {
+            var GyrVariance = CalGyrVariance(Last, state);
+            var AccVariance = CalAccVariance(Last, state);
+            var MagVariance = CalMagVariance(Last, state);
+            if (double.IsInfinity(GyrVariance) || double.IsNaN(GyrVariance))
+                GyrVariance = InitVariance;
+            if (double.IsInfinity(AccVariance) || double.IsNaN(AccVariance))
+                AccVariance = InitVariance;
+            if (double.IsInfinity(MagVariance) || double.IsNaN(MagVariance))
+                MagVariance = InitVariance;
+            var max = Math.Max(AccVariance, MagVariance);
+            state.Variance = GyrVariance * max / (GyrVariance + max);
+            if (double.IsInfinity(state.Variance) || double.IsNaN(state.Variance))
+                state.Variance = InitVariance;
+            return (GyrVariance, AccVariance, MagVariance);
+        }
+
+        public void QuaCheck(ref Geometry.Quaternion quaternion, Geometry.Quaternion backUp)
+        {
+            if (double.IsInfinity(quaternion.x) || double.IsInfinity(quaternion.y) || double.IsInfinity(quaternion.z) || double.IsInfinity(quaternion.w)
+                || double.IsNaN(quaternion.x) || double.IsNaN(quaternion.y) || double.IsNaN(quaternion.z) || double.IsNaN(quaternion.w))
+                quaternion = backUp;
+        }
+        public static string debugInfo = "";
+        public Geometry.Quaternion Process9Axis(State Last, State state)
+        {
+            MagSmooth(Last, state);
+            //var Acc = state.AccSmooth;
+            var Acc = state.Acc;
+            var Gyr = state.Gyr;//误差0.0001-0.0006之间
+            //var Gyr = Vector<double>.One.Normalized * 0.001;//误差0.0001-0.0006之间
+            var Mag = state.Mag;
+            double TimeGap = state.TimeGap;
+
+            o0UIRawImageTester.UpdateAllOffset();
+
+            //Debug.Log(Gyr.Length);
+            debugInfo = $"Acc:{Acc}\n";
+            debugInfo += $"AccLen:{Acc.Length}\n";
+            debugInfo += $"Gyr:{Gyr}\n";
+            debugInfo += $"GyrLen:{Gyr.Length}\n";
+            debugInfo += $"Mag:{Mag}\n";
+            debugInfo += $"MagLen:{Mag.Length}\n";
+            debugInfo += $"TimeGap:{TimeGap}\n";
+            debugInfo += $"GyrMeanLen:{Attitude.GyrCalibrater.Mean.Length}\n";
+            debugInfo += $"MagVariance:{Attitude.MagCalibrater.Variance}\n";
+
+            var LastQuaternion = Last.QuaSmooth;
+
+
+
+            var GyrOperator = Geometry.Quaternion.Euler(Gyr * TimeGap);
+            var quaGyr = LastQuaternion * GyrOperator;
+
+
+            // var accTest = Geometry.Quaternion.FromToRotation(Last.Acc, Acc).Inversed;
+            // TestVector.Set9AxisRotation(Last.QuaSmooth.ToUnityQuaternion(), 2);
+            // var magTest = Geometry.Quaternion.FromToRotation(Last.Mag, Mag).Inversed;
+            // TestVector.Update9AxisRotation(GyrOperator.ToUnityQuaternion(), 3);
+            //TestVector.Set9AxisRotation(quaGyr.ToUnityQuaternion(), 3);
+            //TestVector.Set9AxisRotation(Last.Qua, 3);
+
+
+            var (GyrVariance, AccVariance, MagVariance) = CalVariance(Last, state);
+
+            var quaAccMag = Geometry.Quaternion.FormQuaternion(AccIdentity, MagIdentity, Acc, Mag, (float)(AccVariance / (AccVariance + MagVariance)));
+            var quaMinRate = GyrVariance / (GyrVariance + Math.Max(AccVariance, MagVariance));//静止时约0.01效果最好
+            var quaMaxRate = GyrVariance / (GyrVariance + Math.Min(AccVariance, MagVariance));
+            Geometry.Quaternion quaFirst = Geometry.Quaternion.SLerp(quaGyr, quaAccMag, (float)quaMinRate);//运算到这里如果视角校准有漂移，说明需要重新校准陀螺仪//不是代码问题
+            QuaCheck(ref quaFirst, LastQuaternion);//防止数值溢出
+
+            var quaSecondRate = (quaMaxRate - quaMinRate) / (1 - quaMinRate);
+
+            // Debug.Log((quaMinRate, AccVariance, quaSecondRate));
+
+            state.Qua = AccVariance < MagVariance ? Geometry.Quaternion.FormQuaternion(quaFirst, AccIdentity, Acc, (float)quaSecondRate) : Geometry.Quaternion.FormQuaternion(quaFirst, MagIdentity, Mag, (float)quaSecondRate);/**/
+            //state.Qua = quaFirst;
+
+            QuaCheck(ref state.Qua, LastQuaternion);//防止数值溢出
+            state.QuaSmooth = state.Qua;
+
+            if (ShakeFrame > 0)
+            {
+                --ShakeFrame;
+                if (ShakeFrame == 0)
+                    AccVarianceInput = default;
+            }
+            return state.QuaSmooth;
+        }
+
+        public double InitVariance
+        {
+            get
+            {
+                var minVariance = double.MaxValue;
+                foreach(var i in States)
+                    if (!double.IsInfinity(i.Variance)
+                        && !double.IsNaN(i.Variance)
+                        && minVariance > i.Variance)
+                        minVariance = i.Variance;
+                return minVariance;
+            }
+        }
+        public void Init()
+        {
+            States.Last().AccVariance = 1000;
+            States.Last().GyrVariance = 1000;
+            States.Last().MagVariance = 1000;
+            States.Last().AccMagVariance = 1000;
+            States.Last().TotalVariance = 1000;
+        }
+        public Geometry.Quaternion SetIdentity()
+        {
+            //UnityEngine.Quaternion qua = default;
+
+            //int averageCount = Math.Min(States.Count, 5);
+            int averageCount = Math.Min(States.Count, 50);
+            Vector<double> aveAcc = Vector<double>.Zero;
+            Vector<double> aveMag = Vector<double>.Zero;
+            for (var i = States.Count - averageCount; i < States.Count; ++i)
+            {
+                aveAcc += States[i].AccSmooth;
+                aveMag += States[i].MagSmooth;
+            }
+            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 = Geometry.Quaternion.Identity;
+            States.Last().QuaSmooth = Geometry.Quaternion.Identity;
+            //States.Last().Qua = qua*States.Last().Qua;//Quaternion.identity;
+            States.Last().Variance = InitVariance;
+            States.Last().AccVariance = InitVariance;
+            States.Last().GyrVariance = InitVariance;
+            States.Last().MagVariance = InitVariance;
+            States.Last().QuaAccMag = Geometry.Quaternion.Identity;
+            States.Last().QuaAccMagCount = 0;
+            States.Last().AccMagVariance = InitVariance;
+            States.Last().TotalVariance = InitVariance;
+
+
+            return States.Last().Qua;
+        }
+
+        public State getLastState()
+        {
+            return this.States.Last();
+        }
+
+    }
+
+}