将IMU传感器(加速度计，陀螺仪)读数与时间戳一起导出到数据文件中。

Question

我正在使用一个IMU传感器，并获取3个读数(XYZ_acceleration，XYZ_angular速度，XYZ_magnetometer)，我想将它们与它们的时间戳一起导出到单个数据文件中。我成功地导出到3个单独的数据文件，没有时间戳。

from altimu10v5.lsm6ds33 import LSM6DS33
from altimu10v5.lis3mdl import LIS3MDL
from altimu10v5.lps25h import LPS25H
from time import sleep
import numpy as np
import csv
import calendar
import time

lsm6ds33 = LSM6DS33()
lsm6ds33.enable()

lis3mdl = LIS3MDL()
lis3mdl.enable()

lps25h = LPS25H
lis3mdl.enable()

ts = calendar.timegm(time.gmtime())


while True:


    accel_raw=lsm6ds33.get_accelerometer_raw()
    accel_gforce=lsm6ds33.get_accelerometer_g_forces()
    accel_angle=lsm6ds33.get_accelerometer_angles()
    gyro_raw=lsm6ds33.get_gyroscope_raw()
    gyro_ang_vel=lsm6ds33.get_gyro_angular_velocity()
    magnet=lis3mdl.get_magnetometer_raw()


    aaa1=open('data_accele_f_force.dat','ab')
    np.savetxt(aaa1 ,np.expand_dims(accel_gforce, axis=0),  fmt='%4.2f %4.2f %4.2f') 

    aaa2=open('data_accele_raw.dat','ab')
    np.savetxt(aaa2 ,np.expand_dims(accel_raw, axis=0),  fmt='%4.2f %4.2f %4.2f') 

    aaa3=open('data_accele_angles.dat','ab')
    np.savetxt(aaa3 ,np.expand_dims(accel_angle, axis=0), fmt='%4.2f %4.2f') 

sleep(1)

Answer 1

我在传感器读数中使用虚拟值，但是下面这个应该可以：

import calendar
import numpy as np
from time import sleep
import time

while True:
    # get time
    timestamp = ts = calendar.timegm(time.gmtime())
    # sensor readings
    timestamped_sensor_readings = np.ndarray((0,), np.float32)
    # get sensor placeholder values
    timestamped_sensor_readings = np.append(timestamped_sensor_readings, np.random.rand(3))
    timestamped_sensor_readings = np.append(timestamped_sensor_readings, np.random.rand(3))
    timestamped_sensor_readings = np.append(timestamped_sensor_readings, np.random.rand(2))

    # write format for readings
    write_fmt = " ".join("%4.2f" for _ in timestamped_sensor_readings)
    # append time
    timestamped_sensor_readings = np.append(timestamped_sensor_readings, float(timestamp))
    write_fmt += " %.0f"

    with open("mydatafile.txt", "ab") as f:
        np.savetxt(f, np.expand_dims(timestamped_sensor_readings, axis=0),  fmt=write_fmt)

    sleep(1)

产出如下：

$ tail -f mydatafile.txt 
0.72 0.90 0.77 0.37 0.51 0.46 0.41 0.76 1560186762
0.69 0.49 0.62 0.32 0.60 0.61 0.59 0.52 1560186763
0.17 0.42 0.97 0.07 0.83 0.67 0.48 0.43 1560186764
0.10 0.02 0.07 0.16 0.05 0.83 0.51 0.31 1560186765
0.64 0.78 0.29 0.96 0.04 0.19 0.11 0.43 1560186766
0.12 0.87 0.04 0.99 0.57 0.81 0.05 0.57 1560186767