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allanFit.py
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allanFit.py
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# coding=utf-8
# /usr/bin/env python
'''
Author: Liu Liu
Email: Nicke_liu@163.com
DateTime: 2021/10/31 17:51
desc: 使用allan方差来标定IMU的参数
'''
import time
import struct
import ctypes
import binascii
import allantools
import numpy as np
import matplotlib.pyplot as plt
import serial
# 验证字段
UAVTALK_SYNC_VAL = 0x3c
UAVTALK_TYPE_MASK = 0x78
UAVTALK_TYPE_VER = 0x20
UAV_OBJ_SENSOR = 0x5F9FFBCA
# 重力加速度【m/s^2】
CONST_g0 = 9.8
# 存储所有sensor的所有输出，用于计算标准差std
accX = []
accY = []
accZ = []
gyroX = []
gyroY = []
gyroZ = []
def PIOS_CRC_updateByte(crc, data) :
crc_table = [
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24, 0x23, 0x2a, 0x2d,
0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d,
0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd,
0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea,
0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a,
0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a,
0x89, 0x8e, 0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8, 0xdd, 0xda, 0xd3, 0xd4,
0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44,
0x19, 0x1e, 0x17, 0x10, 0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13,
0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3 ]
return crc_table[crc ^ data]
def crc8Calculate(curCrc, data):
val = curCrc
for i in range(len(data)) :
val = PIOS_CRC_updateByte(val, data[i])
return val
def sensorUnpack(data, n):
'''
对读到的原始数据进行解包处理
:param data:
:param n: 【int】计数
:return:
'''
# print(n)
imuSensorData = np.zeros((6, 4), dtype='float32')
magSensorData = np.zeros((6, 4))
timedata = np.zeros(4)
sensorDataSigma = np.zeros((6, 4), dtype='float32')
objId = int.from_bytes(data[0:4], 'little')
# print(objId)
if objId == UAV_OBJ_SENSOR :
instId = int.from_bytes(data[4:6], 'little')
for i in range(4) :
# 加速度计换算后的单位为[m/s^2]
accel_x = np.asarray(struct.unpack('<f', data[6+i*4:10+i*4])) * 0.001 * CONST_g0
accel_y = np.asarray(struct.unpack('<f', data[22+i*4:26+i*4])) * 0.001 * CONST_g0
accel_z = np.asarray(struct.unpack('<f', data[38+i*4:42+i*4])) * 0.001 * CONST_g0
accX.append(accel_x)
accY.append(accel_y)
accZ.append(accel_z)
# 陀螺仪输出的单位为[deg/s]
gyro_x = np.asarray(struct.unpack('<f', data[54+i*4:58+i*4]))
gyro_y = np.asarray(struct.unpack('<f', data[70+i*4:74+i*4]))
gyro_z = np.asarray(struct.unpack('<f', data[86+i*4:90+i*4]))
gyroX.append(gyro_x)
gyroY.append(gyro_y)
gyroZ.append(gyro_z)
# AKM磁传感器换算后的单位为[Gs]
magSensorData[0, i] = np.asarray(struct.unpack('<h', data[102+i*2:104+i*2])) * 0.01
magSensorData[1, i] = np.asarray(struct.unpack('<h', data[110+i*2:112+i*2])) * 0.01
magSensorData[2, i] = np.asarray(struct.unpack('<h', data[118+i*2:120+i*2])) * 0.01
magSensorData[3, i] = np.asarray(struct.unpack('<h', data[126+i*2:128+i*2])) * 0.01
magSensorData[4, i] = np.asarray(struct.unpack('<h', data[134+i*2:136+i*2])) * 0.01
magSensorData[5, i] = np.asarray(struct.unpack('<h', data[142+i*2:144+i*2])) * 0.01
# 时间戳
timedata[i] = np.asarray(struct.unpack('<f', data[150+i*4:154+i*4]))
print("n=", n)
# print("accel_x" ,accel_x)
# print("accel_y", accel_y)
# print("accel_z", accel_z)
# print("gyro_x" ,gyro_x)
# print("gyro_y", gyro_y)
# print("gyro_z", gyro_z)
# print("magBg:\n", magBg[:])
# print("timedata", timedata)
#print("------------------------------------\n")
def receive(serial_port):
'''
读串口
:param serial_port: 串口端口号
:return:
'''
# Wait a second to let the port initialize
time.sleep(0.01)
viodFlag = b''
n = 0
while True:
if n == 100:
return
data = serial_port.read() # read data from serial_port
if len(data) > 0 :
syncVal = int.from_bytes(data,'little') # 将字节串转换为整数（反序）
# print(syncVal)
if syncVal == UAVTALK_SYNC_VAL : # 验证UAV
crc8 = PIOS_CRC_updateByte(0, syncVal)
dataType = int.from_bytes(serial_port.read(),'little')
# print(dataType)
if dataType == UAVTALK_TYPE_VER: # 验证数据类型
crc8 = PIOS_CRC_updateByte(crc8, dataType)
dataLen = int.from_bytes(serial_port.read(2),'little')
# crc8 = crc8Calculate(crc8, dataLen)
_dataLen = ctypes.c_short(dataLen)
high_8 = (_dataLen.value & 0xff00) >> 8
crc8 = PIOS_CRC_updateByte(crc8, high_8)
low_8 = (_dataLen.value & 0x00ff)
crc8 = PIOS_CRC_updateByte(crc8, low_8)
readLen = dataLen + 4 + 2 + 1 # 有用数据的长度
dataBuff = serial_port.read(readLen) # 读取有用数据
objId = int.from_bytes(dataBuff[0:4], 'little')
# print(objId)
if len(dataBuff) > 0 and objId == UAV_OBJ_SENSOR: # 验证sensor obj id的UAV
crc8 = crc8Calculate(crc8, dataBuff)
crc8Val = dataBuff[-1]
decData = binascii.b2a_hex(dataBuff).decode('utf-8')
sensorUnpack(dataBuff, n)
n += 1
def send(serial_port):
'''
向串口发命令
:param serial_port: 串口端口号
:return:
'''
time.sleep(0.5)
initCmd1 = '< J.L0?..rf allinit 23...................................................??'
setsCmd = '< J.L0?..sets capsule 0x96761133 0x0DB7CE15..............................8.'
# initCmd = initCmd1.strip('\n')
cmdBuf = initCmd1.encode('utf-8')
initStr = '3C 20 4A 00 4C 30 D5 02 00 00 72 66 20 61 6C 6C 69 6E 69 74 20 32 33 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 B1'
initBytes = binascii.a2b_hex(initStr.replace(' ', ''))
setsStr = '3C 20 4A 00 4C 30 D5 02 00 00 73 65 74 73 20 63 61 70 73 75 6C 65 20 30 78 39 36 37 36 31 31 33 33 20 30 78 30 44 42 37 43 45 31 35 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 38'
setsBytes = binascii.a2b_hex(setsStr.replace(' ', ''))
serial_port.write(initBytes)
print(initBytes)
time.sleep(1)
serial_port.write(setsBytes)
print(setsBytes)
time.sleep(1)
if __name__ == '__main__':
serial_port = serial.Serial('COM9', 230400, timeout=0.5)
if serial_port.isOpen():
print("open success!\n")
else:
raise RuntimeError("open failed")
# send(serial_port)
receive(serial_port)
adevAccX = allantools.adev(accX, rate=100, data_type='freq')
adevAccY = allantools.adev(accY, rate=100, data_type='freq')
adevAccZ = allantools.adev(accZ, rate=100, data_type='freq')
print(adevAccX)
plt.loglog(adevAccX[0], adevAccX[1])
plt.loglog(adevAccY[0], adevAccY[1])
plt.loglog(adevAccZ[0], adevAccZ[1])
plt.grid(axis='both', linestyle='-', color='b')
plt.xlabel('tao')
plt.ylabel('Allan dev of acc')
plt.show()