{"id":101859,"date":"2026-09-07T17:49:33","date_gmt":"2026-09-07T09:49:33","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/101859.html"},"modified":"2026-09-07T17:49:33","modified_gmt":"2026-09-07T09:49:33","slug":"px4%e6%b0%b4%e4%b8%8b%e6%9c%ba%e5%99%a8%e4%ba%ba%e5%a7%bf%e6%80%81%e6%8e%a7%e5%88%b6%e7%ae%97%e6%b3%95%e8%a7%a3%e6%9e%90","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/101859.html","title":{"rendered":"PX4\u6c34\u4e0b\u673a\u5668\u4eba\u59ff\u6001\u63a7\u5236\u7b97\u6cd5\u89e3\u6790"},"content":{"rendered":"

1. PX4\u6c34\u4e0b\u673a\u5668\u4eba\u59ff\u6001\u63a7\u5236\u6982\u8ff0<\/h3>\n

\u6c34\u4e0b\u673a\u5668\u4eba\u63a7\u5236\u4e0e\u7a7a\u4e2d\u65e0\u4eba\u673a\u6700\u5927\u7684\u4e0d\u540c\u5728\u4e8e\u4ecb\u8d28\u7279\u6027\u7684\u5dee\u5f02\u3002\u6c34\u7684\u5bc6\u5ea6\u662f\u7a7a\u6c14\u7684800\u500d\uff0c\u8fd9\u79cd\u9ad8\u5bc6\u5ea6\u4ecb\u8d28\u5e26\u6765\u4e86\u66f4\u5927\u7684\u963b\u529b\u548c\u60ef\u6027\uff0c\u4f7f\u5f97\u6c34\u4e0b\u673a\u5668\u4eba\u7684\u59ff\u6001\u63a7\u5236\u9762\u4e34\u72ec\u7279\u6311\u6218\u3002PX4\u4f5c\u4e3a\u5f00\u6e90\u81ea\u52a8\u9a7e\u9a76\u4eea\u7cfb\u7edf\uff0c\u4e13\u95e8\u4e3a\u6c34\u4e0b\u673a\u5668\u4eba\u5f00\u53d1\u4e86\u72ec\u7279\u7684\u63a7\u5236\u7b97\u6cd5\uff0c\u5176\u4e2d\u51e0\u4f55\u63a7\u5236\u5668\uff08Geometric Controller\uff09\u662f\u6838\u5fc3\u7684\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n

\u6211\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u53d1\u73b0\uff0cPX4\u7684\u6c34\u4e0b\u63a7\u5236\u7b97\u6cd5\u8bbe\u8ba1\u5f97\u975e\u5e38\u5de7\u5999\u3002\u5b83\u4e0d\u50cf\u4f20\u7edf\u7a7a\u4e2d\u65e0\u4eba\u673a\u90a3\u6837\u4e3b\u8981\u4f9d\u8d56\u89d2\u901f\u7387\u63a7\u5236\uff0c\u800c\u662f\u91c7\u7528\u57fa\u4e8e\u65cb\u8f6c\u77e9\u9635\u7684\u51e0\u4f55\u63a7\u5236\u65b9\u6cd5\uff0c\u8fd9\u79cd\u65b9\u5f0f\u7279\u522b\u9002\u5408\u6c34\u4e0b\u73af\u5883\u7684\u5f3a\u975e\u7ebf\u6027\u548c\u65f6\u53d8\u7279\u6027\u3002\u51e0\u4f55\u63a7\u5236\u5668\u901a\u8fc7\u76f4\u63a5\u5904\u7406\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u59ff\u6001\u8bef\u5dee\uff0c\u80fd\u591f\u66f4\u597d\u5730\u5e94\u5bf9\u6c34\u6d41\u5e72\u6270\u548c\u8f7d\u4f53\u52a8\u529b\u5b66\u53d8\u5316\u3002<\/p>\n

\u5bf9\u4e8e\u521a\u63a5\u89e6\u6c34\u4e0b\u673a\u5668\u4eba\u7684\u5f00\u53d1\u8005\u6765\u8bf4\uff0c\u7406\u89e3PX4\u7684\u63a7\u5236\u67b6\u6784\u5f88\u91cd\u8981\u3002\u6574\u4e2a\u63a7\u5236\u7cfb\u7edf\u5206\u4e3a\u591a\u4e2a\u5c42\u6b21\uff1a\u6700\u5e95\u5c42\u662f\u9a71\u52a8\u5206\u914d\uff0c\u4e2d\u95f4\u662f\u59ff\u6001\u63a7\u5236\uff0c\u4e0a\u5c42\u662f\u4f4d\u7f6e\u63a7\u5236\u3002\u59ff\u6001\u63a7\u5236\u4f5c\u4e3a\u627f\u4e0a\u542f\u4e0b\u7684\u5173\u952e\u73af\u8282\uff0c\u5176\u7a33\u5b9a\u6027\u76f4\u63a5\u5f71\u54cd\u6574\u4e2a\u7cfb\u7edf\u7684\u6027\u80fd\u3002BlueROV2\u8fd9\u6837\u7684\u91cd\u578b\u914d\u7f6e\u6c34\u4e0b\u673a\u5668\u4eba\uff0c\u7531\u4e8e\u8d28\u91cf\u5927\u3001\u60ef\u6027\u5927\uff0c\u5bf9\u63a7\u5236\u7b97\u6cd5\u7684\u8981\u6c42\u5c31\u66f4\u9ad8\u3002<\/p>\n

2. \u51e0\u4f55\u63a7\u5236\u5668\u7684\u6570\u5b66\u57fa\u7840<\/h3>\n

2.1 \u65cb\u8f6c\u77e9\u9635\u4e0e\u59ff\u6001\u8868\u793a<\/h4>\n

\u51e0\u4f55\u63a7\u5236\u5668\u7684\u6838\u5fc3\u5728\u4e8e\u4f7f\u7528\u65cb\u8f6c\u77e9\u9635\u6765\u63cf\u8ff0\u548c\u8ba1\u7b97\u59ff\u6001\u8bef\u5dee\u3002\u4e0e\u6b27\u62c9\u89d2\u76f8\u6bd4\uff0c\u65cb\u8f6c\u77e9\u9635\u907f\u514d\u4e86\u4e07\u5411\u8282\u9501\u95ee\u9898\uff0c\u7279\u522b\u9002\u5408\u5168\u59ff\u6001\u63a7\u5236\u3002\u5728\u5b9e\u9645\u7f16\u7a0b\u4e2d\uff0cPX4\u4f7f\u7528\u65b9\u5411\u4f59\u5f26\u77e9\u9635\uff08DCM\uff09\u6765\u8868\u793a\u65cb\u8f6c\uff1a<\/p>\n

\/\/ \u4ece\u56db\u5143\u6570\u83b7\u53d6\u5f53\u524d\u65cb\u8f6c\u77e9\u9635
\nQuatf q_att(attitude.q);
\nMatrix3f rot_att = matrix::Dcm<float>(q_att);<\/p>\n

\/\/ \u4ece\u6b27\u62c9\u89d2\u83b7\u53d6\u671f\u671b\u65cb\u8f6c\u77e9\u9635
\nDcmf rot_des = Eulerf(roll_body, pitch_body, yaw_body);<\/p>\n

\u8fd9\u79cd\u8868\u793a\u65b9\u6cd5\u7684\u4f18\u52bf\u5728\u4e8e\u53ef\u4ee5\u76f4\u63a5\u5728SO(3)\u7279\u6b8a\u6b63\u4ea4\u7fa4\u4e2d\u8fdb\u884c\u8fd0\u7b97\uff0c\u907f\u514d\u4e86\u6b27\u62c9\u89d2\u5947\u5f02\u70b9\u95ee\u9898\u3002\u6211\u5728\u8c03\u8bd5\u8fc7\u7a0b\u4e2d\u53d1\u73b0\uff0c\u4f7f\u7528\u65cb\u8f6c\u77e9\u9635\u540e\uff0c\u673a\u5668\u4eba\u5728\u5927\u89d2\u5ea6\u673a\u52a8\u65f6\u7684\u7a33\u5b9a\u6027\u660e\u663e\u63d0\u5347\u3002<\/p>\n

2.2 \u59ff\u6001\u8bef\u5dee\u8ba1\u7b97<\/h4>\n

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1. PX4\u6c34\u4e0b\u673a\u5668\u4eba\u59ff\u6001\u63a7\u5236\u6982\u8ff0
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