基于MPU9250的示教航行姿态研究

Research of teaching navigational attitude based on MPU9250

随着科学技术的不断发展,航姿态测量仪器在工业及军事领域中应用越来越多。然而这类常见的航姿测量仪多采用惯性导航技术和组合导航技术,针对此类仪器价格昂贵且难以维护等问题,本文提出了在教学过程中采用较为廉价的九轴数字式传感器MPU9250,通过滤波和归一化算法测量航行姿态。它不仅具有结构简单,集成度高、易维护,检测直观等特点,而且航行姿态参数还可以虚拟3D展示可以让受教者更好更直观的观测航行姿态。通过实验室验证和教学展示,可以满足示教需求,具有一定的参考价值。

With the development of the science and technology,Attitude Heading Reference Systems(AHRS)are used more and more widely in industrial and military fields.However,according to the problems existed in common devices with inertial navigation and combination navigation techniques,are expensive and difficult to maintain.This paper presents a measuring instrument in the teaching process,which measures the navigation attitude through filtering and normalization algorithms based on the cheaper 9-axis digital sensor MPU9250.It not only has the characteristics of simple structure,high integration,easy maintenance and intuitive detection,but also the navigation attitude parameters can be used to visualize the AHRS in a virtual 3D display,that allows the educatee to better and more intuitively observe the flight attitude.Through experimental verification and teaching display,it can satisfy the teaching demand,with reference value.