{"id":8167,"date":"2024-02-22T14:14:47","date_gmt":"2024-02-22T06:14:47","guid":{"rendered":"http:\/\/192.168.10.115\/?p=8167"},"modified":"2024-02-22T14:15:23","modified_gmt":"2024-02-22T06:15:23","slug":"2024-02-22","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/02\/22\/8167\/","title":{"rendered":"2024-02-22 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-12-300x26.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-12-768x67.png 768w\" sizes=\"(max-width: 847px) 100vw, 847px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"362\" height=\"114\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-11.png\" alt=\"\" class=\"wp-image-8168\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-11.png 362w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-11-300x94.png 300w\" sizes=\"(max-width: 362px) 100vw, 362px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"876\" height=\"66\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-13.png\" alt=\"\" class=\"wp-image-8170\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-13.png 876w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-13-300x23.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-13-768x58.png 768w\" sizes=\"(max-width: 876px) 100vw, 876px\" \/><\/figure>\n\n\n\n<p>\u4ece\u4e0a\u9762\u7684\u516c\u5f0f\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u8bfb\u7684\u6570\u636e\u90fd\u4e0d\u662f\u5ba2\u89c2\u4e8b\u5b9e\uff0c\u662f\u5728\u5ba2\u89c2\u4e8b\u5b9e\u7684\u57fa\u7840\u4e0a\u53e0\u52a0\u4e0a\u4f20\u611f\u5668\u7684\u8bef\u5dee\uff0c\u4e5f\u5c31\u662f\u504f\u7f6e\u548c\u566a\u58f0\u3002<\/p>\n\n\n\n<p>a \u548c g \u5206\u522b\u8868\u793a acc \u548c gyro\uff0c<strong>w \u8868\u793a\u5728\u4e16\u754c\u5750\u6807\u7cfb\uff0cb \u8868\u793aIMU\u4f53\u5750\u6807\u7cfb\u3002\u5728\u540e\u9762\u7684\u516c\u5f0f\u4e2d\u4f1a\u6709\u5f88\u591a\u4e0b\u6807\uff0c\u5f88\u5bb9\u6613\u6df7\u6dc6<\/strong>\u3002<\/p>\n\n\n\n<p>\u4f4d\u79fb\uff0c\u901f\u5ea6\u548c\u59ff\u6001\uff08position, velocity, quaternion, i.e. PVQ\uff09\u5bf9\u65f6\u95f4\u7684\u5bfc\u6570\u53ef\u4ee5\u5199\u6210<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"281\" height=\"210\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-14.png\" alt=\"\" class=\"wp-image-8171\"\/><\/figure>\n\n\n\n<p>\u524d\u4e24\u4e2a\u516c\u5f0f\u6ca1\u95ee\u9898\uff0c\u5c31\u662f\u4e09\u4e2a\u8fd0\u52a8\u91cf\u4e4b\u95f4\u7684\u79ef\u5206\u5fae\u5206\u3002\u7b2c\u4e09\u4e2a\u5173\u4e8e\u56db\u5143\u6570\u5fae\u5206\uff0c\u5728\u8fd9\u91cc\u7a0d\u5fae\u63a8\u5bfc\u4e00\u4e0b\uff0c\u65b9\u4fbf\u5927\u5bb6\u540e\u7eed\u9605\u8bfb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"870\" height=\"639\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-15.png\" alt=\"\" class=\"wp-image-8172\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-15.png 870w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-15-300x220.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-15-768x564.png 768w\" sizes=\"(max-width: 870px) 100vw, 870px\" \/><\/figure>\n\n\n\n<p>\u4e2d\u95f4\u7a7f\u63d2\u4e86\u4e00\u6bb5\u56db\u5143\u6570\u63a8\u5bfc\uff0c\u73b0\u5728\u7ee7\u7eed\u3002<\/p>\n\n\n\n<p>\u4ece\u7b2c i \u65f6\u523b\u7684PVQ \u5bf9 IMU\u7684\u6d4b\u91cf\u503c\u8fdb\u884c\u79ef\u5206\u5f97\u5230\u7b2c j \u65f6\u523b\u7684PVQ\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"507\" height=\"216\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-16.png\" alt=\"\" class=\"wp-image-8173\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-16.png 507w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-16-300x128.png 300w\" sizes=\"(max-width: 507px) 100vw, 507px\" \/><\/figure>\n\n\n\n<p>\u56e0\u4e3aIMU\u7684\u91c7\u6837\u9891\u7387\u9ad8\uff0c\u901a\u5e38\u4e3a100Hz &#8211; 1000Hz\uff0c\u6570\u636e\u91cf\u975e\u5e38\u5927\uff0c\u5728\u505a\u4f18\u5316\u7684\u65f6\u5019\uff0c\u4e0d\u53ef\u80fd\u5c06\u5982\u6b64\u591a\u7684\u6570\u636e\u90fd\u653e\u5230\u72b6\u6001\u53d8\u91cf\u4e2d\uff0c\u56e0\u6b64\u901a\u5e38\u7684\u505a\u6cd5\u662f\u6bcf\u9694\u4e00\u6bb5\u65f6\u95f4\u63d0\u53d6\u4e00\u4e2a\u6570\u636e\uff0c\u6bd4\u5982\u6bcf\u96941\u79d2\u63d0\u53d6\u4e00\u4e2a\u3002\u4e5f\u5c31\u662f\u4e0a\u5f0f\u4e2d\u5047\u5982 i \u662f\u7b2c\u4e00\u79d2\u63d0\u53d6\u7684IMU\u6570\u636e\uff0cj 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-19.png\" alt=\"\" class=\"wp-image-8176\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-19.png 609w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-19-300x110.png 300w\" sizes=\"(max-width: 609px) 100vw, 609px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"881\" height=\"78\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-20.png\" alt=\"\" class=\"wp-image-8177\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-20.png 881w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-20-300x27.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-20-768x68.png 768w\" sizes=\"(max-width: 881px) 100vw, 881px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"361\" height=\"221\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-21.png\" alt=\"\" class=\"wp-image-8178\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-21.png 361w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/02\/\u56fe\u7247-21-300x184.png 300w\" sizes=\"(max-width: 361px) 100vw, 361px\" \/><\/figure>\n\n\n\n<p>\u6539\u53eb 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