旧版算法

代码备份/旧版算法-2022-8-19/o09AxisCS.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+
+//旧版算法
+public class o09AxisCS
+{
+    static public Vector3 AccIdentity = new Vector3(0, -1, 0);
+    static public Vector3 MagIdentity = new Vector3(-1, 2, 0).normalized;
+    public class State
+    {
+        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;
+    }
+
+    o0Project.Variance HardwareVarianceGyr = new o0Project.Variance(1000);
+    o0Project.Variance HardwareVarianceAcc = new o0Project.Variance(1000);
+    o0Project.Variance HardwareVarianceMag = new o0Project.Variance(1000);
+
+    public List<State> States = new List<State>();
+
+    public Vector3 AccOld;
+    public Vector3 GyrOld;
+    public Vector3 MagOld;
+
+    public float x;
+    public float y;
+    public float z;
+
+    long TimeGapOld;
+    o0Aien.o0WeightedAverageFilterVector3 AccFilter = new o0Aien.o0WeightedAverageFilterVector3(5);
+    o0Aien.o0WeightedAverageFilterVector3 MagFilter = new o0Aien.o0WeightedAverageFilterVector3(10);
+         
+    public Quaternion update(Vector3 AccOld, Vector3 GyrOld, Vector3 MagOld, long TimeGapOld)
+    {
+        o0UIRawImageTester.UpdateAllOffset();
+
+        var Acc = this.AccOld;
+        var Gyr = (this.GyrOld + GyrOld)/2;
+        var Mag = this.MagOld;
+        float TimeGap = this.TimeGapOld;
+        this.AccOld = AccOld;
+        this.GyrOld = GyrOld;
+        this.MagOld = MagOld;
+        this.TimeGapOld = TimeGapOld;
+        var Last = States.LastOrDefault() ?? new State();
+        if (this.TimeGapOld <= 0)
+            return Last.Qua;
+        States.Add(new State());
+        if (States.Count > 200)
+            States.RemoveAt(0);
+        var state = States.Last();
+        state.Acc = Acc;
+
+        state.AccSmooth = AccFilter.Update(Acc);
+        
+        state.Gyr = Gyr;
+        state.Mag = Mag;/**/
+        state.MagSmooth = MagFilter.Update(Mag);
+        if (States.Count <=1)
+            return Quaternion.identity;
+
+        HardwareVarianceGyr.Update((Gyr).magnitude);//每毫秒方差2.331017E-09 度左右   0.00000002331017
+        HardwareVarianceAcc.Update(Vector3.Angle(state.Acc, Last.Acc));//方差0.0012度左右
+        HardwareVarianceMag.Update(Vector3.Angle(state.Mag, Last.Mag));//方差3.5度左右
+
+        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);/**/
+
+
+        state.Variance = GyrVariance;
+        state.Variance = state.Variance * (AccVariance+ MagVariance) / (state.Variance + (AccVariance + MagVariance));
+
+        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;
+
+        var quaAccMag = o0Project.o0.FormQuaternion(AccIdentity, MagIdentity, state.AccSmooth, state.MagSmooth, (float)(AccVariance / (AccVariance + MagVariance)));
+
+        var quaMinRate = GyrVariance / (GyrVariance + Math.Max(AccVariance, MagVariance));
+        var quaMaxRate = GyrVariance / (GyrVariance + Math.Min(AccVariance, MagVariance));
+        Quaternion quaFirst = Quaternion.Slerp(quaGyr, quaAccMag, (float)quaMinRate).normalized;
+        if (float.IsNaN(quaFirst.w))
+            quaFirst = Last.Qua;
+
+        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);
+        
+        if (float.IsNaN(state.Qua.w))
+            state.Qua = Last.Qua;/**/
+        state.QuaSmooth = Quaternion.Slerp(Last.QuaSmooth, state.Qua, 0.3f);
+
+        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));
+
+        return state.Qua;
+    }
+
+    public void SetIdentity()
+    {
+        Quaternion qua = default;
+        AccIdentity = AccOld;
+        MagIdentity = MagOld;
+        qua = o0Project.o0.FormQuaternion(Quaternion.identity, Vector3.up,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;
+    }
+
+    public State getLastState() {
+        return this.States.Last();
+    }
+
+    public Vector3 getGyrOld() {
+        return GyrOld;
+    }
+
+    public void DeleteStatesFromTail(int count) {
+        if (count <= 0 || States.Count == 0) return;
+        States = States.GetRange(0, States.Count - count <= 0 ? 1 :  States.Count - count);
+    }
+}