摘要
自平衡机器人、多旋翼无人飞行器的控制需要高精度的姿态运动信息作为反馈输入,要求测量模块具有响应快、体积小和功耗低的特点。采用低成本的MEMS器件与STM32单片机构建了航向姿态参考系统硬件平台。针对传感器的特点,设计了基于扩展卡尔曼滤波算法的双矢量校正方法,并给出了陀螺仪的温度补偿、磁传感器的校正方法。
Controls of the self balancing robot and multi-rotor UAV require high-precision attitude motion informations as feedback in puts, and measurement modules have fast response, small size and low power consumption. Using the low-cost MEMS device and STM32 microcontroller,the hardware platform of attitude heading reference system is built. Aiming at the features of sensor, two-vector correction is designed based on extended Kalman filter algorithm. Correction methods of gyroscope＇s temperature compensation and magnetic sensor are given. ey words.
出处
《单片机与嵌入式系统应用》
2012年第5期1-4,共4页
Microcontrollers & Embedded Systems
