网站上e3.1代码中传感器的标定中求加速度计的参数是6个，而课件Lesson07Sensor and Measurement Model求解出的是9个参数，方便发一下求解9个参数实验代码和和参考的文章吗？

[DaMeng59]

[WANGshouming4937]

6个参数或是9个参数在实现上区别不大。 1.修改模型函数 calFunc.m kx = p(1); ky = p(2); kz = p(3); bx = p(4); by = p(5); bz = p(6); phi = p(7); theta = p(8); psi = p(9);

Ta = [1 psi -theta;
         -psi 1 phi;
         theta -phi 1];
Ka = [kx 0 0;0 ky 0;0 0 kz];
ba = [bx by bz]';
m = length(x);
Y = zeros(1, m);
for i = 1:m  
    Y(i) = norm(Ta*Ka*(x(1:3, i) + ba));
end

2.修改参数的初始化值 calLM.m p0 = [1 1 1 0 0 0 0 0 0]'; p_init = [1.0 1.0 1.0 0.1 0.1 0.1 0.001 0.001 0.001]';

[DaMeng59]

利用Ch7Date的加速度数据所得图像与Lesson07Sensor and Measurement Model（http://rfly.buaa.edu.cn/course/ch/Lesson07V2.pdf）中的pp13图像完全不同,请问是数据的原因，还是其他？

------------------ 原始邮件 ------------------ 发件人: "WANGshouming4937"<[email protected]>; 发送时间: 2020年5月26日(星期二) 晚上8:09 收件人: "RflySim/RflyExpCode"<[email protected]>; 抄送: "ヤ恛メ憶ヤ"<[email protected]>; "Author"<[email protected]>; 主题: Re: [RflySim/RflyExpCode] 网站上e3.1代码中传感器的标定中求加速度计的参数是6个，而课件Lesson07Sensor and Measurement Model求解出的是9个参数，方便发一下求解9个参数实验代码和和参考的文章吗？ (#8)

6个参数或是9个参数在实现上区别不大。 1.修改模型函数 calFunc.m kx = p(1); ky = p(2); kz = p(3); bx = p(4); by = p(5); bz = p(6); phi = p(7); theta = p(8); psi = p(9); Ta = [1 psi -theta; -psi 1 phi; theta -phi 1]; Ka = [kx 0 0;0 ky 0;0 0 kz]; ba = [bx by bz]'; m = length(x); Y = zeros(1, m); for i = 1:m Y(i) = norm(TaKa(x(1:3, i) + ba)); end
2.修改参数的初始化值 calLM.m p0 = [1 1 1 0 0 0 0 0 0]'; p_init = [1.0 1.0 1.0 0.1 0.1 0.1 0.001 0.001 0.001]';

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