fast imu

2026-05-26 03:37:33 +08:00
parent 8531c4dc9e
commit 62cae27c54
6 changed files with 35 additions and 32 deletions
--- a/trajectory_tracker.py
+++ b/trajectory_tracker.py
@@ -50,9 +50,9 @@ class Tracker:
    使用 EKF 四元数进行姿态旋转, 标定加速度计偏置, ZUPT 抑制静止漂移。
    """

-    def __init__(self, zupt_threshold_accel=0.10, zupt_threshold_gyro=0.03,
-                 zupt_frames=8, deadzone_threshold=0.02,
-                 var_window_size=20, zupt_var_threshold=0.002):
+    def __init__(self, zupt_threshold_accel=0.20, zupt_threshold_gyro=0.05,
+                 zupt_frames=15, deadzone_threshold=0.03,
+                 var_window_size=30, zupt_var_threshold=0.005):
        """
        Args:
            zupt_threshold_accel: ZUPT ‖a_linear‖ 阈值 (m/s^2)