ADIS16300四自由度IMU在姿态测量中的应用

4DoF IMU ADIS16300 and its application in attitude measurement

为了实现复杂的运动与导航控制,需获取控制对象的空间姿态信息,设计了基于四自由度(4DoF)IMU惯性测量传感器和C8051F330单片机的姿态测量系统。介绍了ADIS16300惯性测量传感器的特点及应用,详细说明其数据读取和数据转换,并设计了它与C8051F330单片机组成的姿态测量系统的硬件电路和软件程序。最后将其与AHRS500GA-226航向参考系统进行对比分析,结果表明,ADIS16300能够准确反应空间姿态,其中航向角速率、X轴加速度、Y轴加速度和Z轴加速度4个空间姿态的平均误差分别为0.469(°)/s、0.009 m/s2、0.010 m/s2、0.003 m/s2。

In order to achieve complex motion and navigation control, it is important to access space attitude information of control object. A system was designed which based on a 4DoF IMU ADIS16300 and C8051F330. The characteristic and using of the sensor were described. Its data acquisition and conversion was described in detail. The hardware and software of the system was also designed. The attitude data of ADIS16300 and AHRS were analyzed and compared. The result shows that the ADIS16300 measured the space attitude accurately. The average errors of heading angular rate, X-axis acceleration, Y-axis acceleration and Z-axis acceleration are 0.469（°）/s, 0.009m/s2, 0.010m/s2 and 0.003m/s2, respectively.