基于无线通讯的物体运动轨迹测量仪的设计

the Design of Object Trajectory Measuring Instrument Based on Wireless Communication

运动轨迹检测仪在行走距离估计、导航系统、人机交互等领域具有广泛的应用。该论文以STM32F103单片机、NRF24L01无线通讯模块、MPU-6050运动传感器、HMC5883电子罗盘、TFTLCD液晶屏等模块,设计一种可无线测量物体运动轨迹的仪器。通过运动传感器采集的加速度和偏转角度α,以及电子罗盘采集的偏转角度θ,利用无线模块传递采集数据,然后将数据进行角度修正,采用适当的数据融合算法,欧拉角法描述物体坐标系相对于地理坐标系的空间角位置关系,能精准计算物体每一时刻的速度和位移,然后通过液晶显示,可观察到物体每一时刻的运动状态。将获取的运动状态数据通过串口发送至PC机,用Matlab仿真软件获取物体的运动轨迹图形。

The trajectory measuring instrument in walking distance estimation,navigation systems, humancomputer interaction and other fields has wide applications.This paper with STM32F103 microcontroller, wireless NRF24L01 wireless communication module,the MPU- 6050 motion sensors,HMC5883 electronic compass and TFTLCD LCD modules,designs a kind of instrument which has the function of wireless measurement object vtrajectory.The measuring instrument by motion sensors and electronic compass for the acceleration of the object,the deflection Angle information,transfer data through wireless module,then to amend the data,using the appropriate data fusion algorithm and euler angles method to describe the object coordinate system relative to the geographical coordinate system angular position in the relationship,The instrument can accurately calculate the object speed and displacement and,the state of objects in the liquid crystal display（LCD）that can be observed each time.After the data of motion state are sent to the PC in the serial port, the object trajectory graphics are depicted with the MATLAB simulation software.