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| ### Code Terre_Plate ###
# Importation des modules necessaires :
import sys
from math import sin, cos, atan, pi, sqrt, atan2
import numpy as np
import matplotlib.pyplot as plt
import struct #struct.unpack('motif_du_format_a_convertir', donnee) convertit C -> type Python
import paho.mqtt.client as mqtt #le as '' cree un alias (racourci)
import base64 #contient les classes d'encodage et de decodage
import time
### Initialisation pour le calcul de l'Attitude
weight = 0.98
t_ech = 0.010
def qmul(Qb, Qc):
''' Methode permettant de multiplier deux quaternions '''
Qa = Qc[0] * Qb
Qa[0] = Qa[0] - Qb[1]*Qc[1] - Qb[2]*Qc[2] - Qb[3]*Qc[3]
Qa[1] = Qa[1] + Qb[0]*Qc[1] + Qb[2]*Qc[3] - Qb[3]*Qc[2]
Qa[2] = Qa[2] + Qb[0]*Qc[2] + Qb[3]*Qc[1] - Qb[1]*Qc[3]
Qa[3] = Qa[3] + Qb[0]*Qc[3] + Qb[1]*Qc[2] - Qb[2]*Qc[1]
return Qa
f = np.loadtxt('/home/alex/Documents/Alex projet Fusion/Données Phillipe/donnee_capteur_dynamique.csv',
delimiter=',', usecols=(0, 1, 2, 3, 4, 5, 6, 7, 8))
MAccX = f[:, 0] *9.78
MAccY = f[:, 1] *9.78
MAccZ = f[:, 2] *9.78
MGyroX = f[:, 3]*(2*pi/360)
MGyroY = f[:, 4]*(2*pi/360)
MGyroZ = f[:, 5]*(2*pi/360)
MMagX = f[:, 6] #-0.14716
MMagY = f[:, 7] #+ 0.12514
MMagZ = f[:, 8] #-0.08250
MGyroX_l = []
MGyroY_l = []
MGyroZ_l = []
MAccX_l = []
MAccY_l = []
MAccZ_l = []
long_senseurs = np.size(MAccX)
for i in range(100):
MGyroX_l.append(MGyroX[i])
MGyroY_l.append(MGyroY[i])
MGyroZ_l.append(MGyroZ[i])
MAccX_l.append(MAccX[i])
MAccY_l.append(MAccY[i])
MAccZ_l.append(MAccZ[i])
MGyroX_m = np.mean(MGyroX_l)
MGyroY_m = np.mean(MGyroY_l)
MGyroZ_m = np.mean(MGyroZ_l)
MAccX_m = np.mean(MAccX_l)
MAccY_m = np.mean(MAccY_l)
MAccZ_m = np.mean(MAccZ_l)
# Formatage des donnees senseurs
for i in range(long_senseurs):
MGyroX[i] = MGyroX[i] - MGyroX_m
MGyroY[i] = MGyroY[i] - MGyroY_m
MGyroZ[i] = MGyroZ[i] - MGyroY_m
#MAccX[i] = (MAccX[i] - MAccX_m)/4
#MAccY[i] = (MAccY[i] - MAccY_m)/4
#MAccZ[i] = (MAccZ[i] - MAccZ_m)/4 +9.78
# Fenetre de temps
t_ech = 0.010
tps = np.arange(t_ech, long_senseurs*t_ech, t_ech)
nbre_pas = np.size(tps)
weight = 0.94
Pos = np.array([0, 0, 0])
Pos = Pos[:, np.newaxis]
Position = np.zeros((nbre_pas, 3))
Attitude_Gyr = np.zeros((3, 1))
Attitude_Fused = np.zeros((3, 1))
Attitude = np.zeros((nbre_pas, 3))
# Vitesse earth dans repere navigation
Vit = np.array([0, 0, 0])
Vit = Vit[:, np.newaxis]
Vitesse = np.zeros((nbre_pas, 3))
# Increments acceleration
incr_f_b = np.array([0, 0, 9.78])
incr_f_b = incr_f_b[:, np.newaxis]
# Increments gyro
incr_w_nb_b = np.array([0, 0, 0])
incr_w_nb_b = incr_w_nb_b[:, np.newaxis]
# Matrice de passage de body a navigation
C_b_n = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]])
# Vecteur rotation body par rapport plateforme dans body
w_nb_b = np.array([0, 0, 0])
w_nb_b = w_nb_b[:, np.newaxis]
Tangage = []
Roulis = []
Cap = []
Pos_x = []
Pos_y = []
Pos_z = []
Vit_x = []
Vit_y = []
Vit_z = []
#############################################################
#Boucle principale d'iteration d'integration de la navigation
#############################################################
for k in range(nbre_pas):
vect_incr_body = np.array([MAccX[k], MAccY[k], MAccZ[k]])
Vecteur_Gravite = np.array([0, 0, -9.78])
Vecteur_Gravite = Vecteur_Gravite[:, np.newaxis]
Acc_gama = atan(MAccY[k]/sqrt(MAccX[k]**2 + MAccZ[k]**2))
Acc_theta = atan(MAccX[k] / sqrt(MAccY[k]**2 + MAccZ[k]**2 ))
#xh = MMagX[k]*cos(Acc_theta) + MMagY[k]*sin(Acc_gama) -MMagZ[k]*cos(Acc_theta)*sin(Acc_gama)
#yh = MMagY[k]*cos(Acc_gama) + MMagZ[k]*sin(Acc_gama)
#Acc_psi = atan(-yh / xh)
variation = 0.52 * (pi/180)
xh = MMagX[k]*cos(Acc_gama) + MMagY[k]*sin(Acc_gama)*sin(Acc_gama) + MMagZ[k]*cos(Acc_gama)*sin(Acc_theta)
yh = MMagY[k]*cos(Acc_theta) - MMagZ[k]*sin(Acc_theta)
Acc_psi = atan(-yh / xh) + variation
#Acc_psi = atan(-MMagY[k] / MMagX [k]) #4
Attitude_Acc = np.array([[Acc_gama], [Acc_theta], [Acc_psi]])
Attitude_Fused[0] = weight*( Attitude_Fused[0] + MGyroX[k]*t_ech) + (1-weight)*(Attitude_Acc[0])
Attitude_Fused[1] = weight*( Attitude_Fused[1] + MGyroY[k]*t_ech) + (1-weight)*(Attitude_Acc[1])
Attitude_Fused[2] = weight*( Attitude_Fused[2] + MGyroZ[k]*t_ech) + (1-weight)*(Attitude_Acc[2])
# Tangage rotation autour de x_aile_droite
Attitude[0] = Attitude_Fused[0]
g = Attitude_Fused[0] * (180/pi)
# Roulis rotation autour de y_devant
Attitude[1] = Attitude_Fused[1]
t = Attitude_Fused[1] * (180/pi)
# Cap rotation autour de z_up
Attitude[2] = Attitude_Fused[2]
p = (Attitude_Fused[2]) * (180/pi)
#print(k)
#print("Tangage = " + str(g[0]) + " Roulis = " + str(t[0]) + " Cap = " + str(p[0]) )
# Passage en quaternions
q1 = sin(g/2)*sin(t/2)*sin(p/2) + cos(g/2)*cos(t/2)*cos(p/2)
q2 = sin(g/2)*cos(t/2)*cos(p/2) - cos(g/2)*sin(t/2)*sin(p/2)
q3 = sin(g/2)*cos(t/2)*sin(p/2) + cos(g/2)*sin(t/2)*cos(p/2)
q4 = -sin(g/2)*sin(t/2)*cos(p/2) + cos(g/2)*cos(t/2)*sin(p/2)
quat_q = np.array([q1, q2, q3, q4])
quat_q_conj = np.array([q1, -q2, -q3, -q4])
a = np.array([0.])
quat_incr_body = np.concatenate((a, vect_incr_body), axis=0)
quat_interm = qmul(quat_incr_body, quat_q_conj)
quat_incr_navig = qmul(quat_q, quat_interm)
vect_incr_navig = quat_incr_navig[1:4]
vect_incr_navig = vect_incr_navig[:, np.newaxis]
Vit = Vit + (vect_incr_navig + Vecteur_Gravite) * t_ech
Vitesse[0][0] = Vit[0][0]
Vitesse[0][1] = Vit[1][0]
Vitesse[0][2] = Vit[2][0]
# integration de la position
Pos = Pos + Vit * t_ech
Position[0][0] = Pos[0][0]
Position[0][1] = Pos[1][0]
Position[0][2] = Pos[2][0]
# Affichage valeur:
Tangage.append(g[0])
Roulis.append(t[0])
Cap.append(p[0])
Pos_x.append(Position[0][0])
Pos_y.append(Position[0][1])
Pos_z.append(Position[0][2])
Vit_x.append(Vitesse[0][0])
Vit_y.append(Vitesse[0][1])
Vit_z.append(Vitesse[0][2])
plt.clf()
plt.subplot(3, 3, 1)
plt.plot(tps, Pos_x, color='red')
plt.xlabel('Position_x', labelpad=1)
plt.ylabel('Temps')
plt.grid(True)
plt.subplot(3, 3, 2)
plt.plot(tps, Pos_y, color='red')
plt.xlabel('Position_y', labelpad=-2)
plt.grid(True)
plt.subplot(3, 3, 3)
plt.plot(tps, Pos_z, color='red')
plt.xlabel('Position_z', labelpad=1)
plt.grid(True)
plt.subplot(3, 3, 4)
plt.plot(tps, Vit_x, color='blue')
plt.xlabel('Vitesse_x', labelpad=1)
plt.ylabel('Temps', labelpad=15)
plt.grid(True)
plt.subplot(3, 3, 5)
plt.plot(tps, Vit_y, color='blue')
plt.xlabel('Vitesse_y', labelpad=1)
plt.grid(True)
plt.subplot(3, 3, 6)
plt.plot(tps, Vit_z, color='blue')
plt.xlabel('Vitesse_z', labelpad=1)
plt.grid(True)
plt.subplot(3, 3, 7)
plt.plot(tps, Tangage, color='green')
plt.xlabel('Tangage', labelpad=1)
plt.ylabel('Temps', labelpad=15)
plt.grid(True)
plt.subplot(3, 3, 8)
plt.plot(tps, Roulis, color='green')
plt.xlabel('Roulis', labelpad=1)
plt.grid(True)
plt.subplot(3, 3, 9)
plt.plot(tps, Cap, color='green')
plt.xlabel('Cap', labelpad=1)
plt.grid(True)
plt.show() |
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