摘要
采用六轴运动处理器MPU6050设计矿山无人机的姿态监测单元,详细介绍利用MPU6050内部的DMP(数字运动处理)单元完成对矿山无人机航摄系统当前姿态的解算,并与传统的姿态解算算法(卡尔曼滤波算法)进行深入的比较,得出利用DMP单元完成矿山无人机的姿态角解算输出稳定、响应速度快,且能够降低矿山无人机设计的硬件要求。
Posture monitoring unit using six axis MPU6050processor design of mine UAV,detailing the use of MPU6050internal DMP(digital motion processing)unit is introduced to mine UAV system in current attitude solution,and the solution algorithm and the traditional attitude(Calman filter)in-depth comparison,obtained by DMP unit to complete mine UAV attitude calculation output stability,fast response speed,and can reduce the mine drone design hardware requirements.
作者
张可儿
ZHANG Ke-er(Electrical Engineering College, Longdong University, Qingyang 745000, China)
出处
《世界有色金属》
2018年第1期14-16,共3页
World Nonferrous Metals
关键词
矿山无人机
DMP
卡尔曼滤波
Mine unmanned aerial vehicle
DMP
Kalman filter
