摘要
为了满足小型水下航行器在定位导航过程中使用VI-SLAM技术进行图像与惯导数据存储的要求,该文设计了一种基于STM32与SD卡的低成本数据采集存储系统。IMU通过I2C总线与STM32连接并传输惯导数据;相机借助高速缓存模块来保存图像并传输给STM32;借助STM32单片机与SD卡存储器的接口,通过移植后的FatFS文件管理系统来实现数据存储。存储在SD卡中的数据可通过PC机上的SD卡接口,方便快捷地被PC机直接读取,并进行后续的VI-SLAM算法实验。该设计满足了数据所需存储容量大的要求,且易于后续的存储扩展。经实验验证表明,该数据采集存储系统能够稳定可靠地保存传感器所产生的数据。
In order to meet the image and inertial navigation data storage requirements in the process of positioning and navigation of small underwater vehicles using VI-SLAM technology,this paper designs a data acquisition and storage system based on STM32 and SD card.The IMU is connected to the STM32 through the I2C bus and transmits the inertial navigation data;The camera uses the cache module to save the image and transmits it to the STM32;With the interface of the STM32 microcontroller and the SD card memory,the transplanted FatFS file management system is used to achieve data storage.The data stored in the SD card can be directly read by the PC through the SD card interface on the PC,and the subsequent VI-SLAM algorithm experiments can be carried out.This design satisfies the requirement of large storage capacity for data,and is easy for subsequent storage expansion.The experimental verification shows that the data acquisition and storage system can store the data generated by the sensor stably and reliably.
作者
邓斌
刘明
DENG Bin;LIU Ming(School of Electrical Information Engineering,Yunnan Minzu University,Kunming 650500,China)
出处
《电子设计工程》
2023年第15期60-65,共6页
Electronic Design Engineering
基金
国家自然科学基金项目(52061042)。
