基于DSP和STM32的航姿参考系统设计

Design of an attitude and heading reference system based on DSP and STM32

近年来,随着MEMS惯性传感器的快速发展,民用领域对姿态测量的使用也越来越广泛,航姿参考系统便显得尤为重要。基于DSP和STM32单片机,采用多传感器数据融合算法进行卡尔曼滤波作为航姿解算单元,设计并完成了航姿参考系统的核心部分。选用SGT320E型三轴多功能转台,在静态和动态环境下进行了数据的分析和验证。结果表明,该航姿参考系统能够满足小型化、低功耗和低成本的航姿系统的设计要求,适用于对精度要求不是很高的民用领域。

With the rapid development of MEMS inertial sensors in recent years, attitude measurement is also more and more widely used in civilian areas, and the attitude and heading reference system （AHRS） is particularly important. Based on the DSP and STM32 single-chip microcomputer, the core part of an AHRS is designed in this paper with the multi-sensor data fusion algorithm adoped to carry out the Kalman filter as the aerial pose solution unit. The data are analyzed and verified in static and dynamic environment with a three-axis multifunctional turntable SGT320E. The results show that the system can meet the requirements of navigation attitude system for small size, low-power and low-cost, and is applicable to civilian areas where the requirements for precision are not very high.