基于ARM与Linux的姿态角测量系统的研制

Design of attitude measurement system based on ARM and Linux

选取旋转矢量算法作为姿态角测量系统的姿态矩阵更新算法.针对三子样算法采样周期长的特点,提出了重复使用采样数据的方案以保证系统的实时性.选取陶瓷静电陀螺仪CG-L53为角速率传感器,设计了以AT89S51为MCU的信号采集板,搭建了以ARM芯片为CPU的计算机平台,完成了系统各模块的软件设计.仿真测试结果表明,系统能较稳定地输出姿态角信息.

A rotation vector algorithm is applied as attitude matrix update algorithm in attitude measurement system.To ensure the system＇s real-time capability,a new method of repeated use of sampling data is proposed,which make up the deficiency of long sampling cycle in three-sample algorithm.The system hardware mainly includes angle rate sensor（ceramic static gyro CG-L53）,signal sampling board（based on AT89S51 MCU）,and computer platform（based on ARM CPU）.Linux is introduced to design software in each model to realize attitude algorithm.Emulation result shows that the system can measure attitude angle stably.