摘要
为了使姿态测量得到更为广泛的应用,应用MPU-6050惯性测量模块设计了一款运动体姿态角度测量系统。硬件设计主要包括微处理器控制模块、惯性测量模块、串口通信模块等;软件设计主要介绍了姿态解算的原理、四元数姿态解算算法,以及系统软件工作流程等;系统微处理器模块选用STM32F103C8T6,采用RS232接口与PC机进行交互通信并通过三轴转台进行系统测试。测试结果表明,系统对运动体姿态角度的检测具有较好的测量效果,测量角度较为准确,适用于大多数运动体姿态的测量,系统性价比较高,性能稳定性较好,具有较高的实用价值。
In order to make attitude measurement used widely, a MPU-6050 inertial measuring module is applied to design an attitude angle measuring system for moving objects. Hardware is designed, including a microprocessor control module, inertial measurement module, serial communication module and so on; The software-related design work is introduced too, such as the alg principle of attitude calculation, quaternion attitude orithm, workflow of software and so on. The system uses STM32F103C8T6 as microprocessor module, RS232 interface to communicate with PC and three-axis turntable system to complete system test .Test results show that： the system has better results in detecting attitude angles of moving objects with more high accuracy, and is suitable of attitude measurement of most of moving objects. The system has high practical value as its high quality -value ratio for money and good performance stability.
出处
《传感器世界》
2016年第7期7-12,共6页
Sensor World
基金
国家自然科学基金资助项目(NO.61271047
NO.61571053)
北京市属高校创新能力提升计划项目(NO.TJSHG20130720026)
关键词
姿态角
惯性传感器
四元数
姿态解算
三轴转台
attitude angle
inertial sensor
Quaternion algorithm
attitude algorithm
three-axis turntable
