基于STM32的无人机姿态测量系统设计  

Design of attitude measurement system for UAV based on STM32

作　　者：刘辉邦[1] 褚金奎[1] 支炜[1] 李晓雨[1] 

机构地区：[1]大连理工大学精密特种加工教育部重点实验室,辽宁大连116023

出　　处：《传感器与微系统》2013年第8期108-110,共3页Transducer and Microsystem Technologies

基　　金：国家重点基础研究发展规划项目(2011CB302101;2011CB302105);国家自然科学基金资助项目(51175056)

摘　　要：设计一种基于STM32的无人机姿态测量系统。该系统以新型的ARM Cortex—M3内核微处理器STM32F103ZET6作为处理单元,结合MEMS数字陀螺仪和MEMS数字加速度计设计而成,采用一种简单有效的互补滤波算法进行姿态解算,有效地提高了姿态测量的精度。实验测试表明:该姿态测量系统简单实用,性能稳定,精度高,能够满足一般无人机姿态测量的要求。An attitude measurement system for UAV based on STM32 is presented.The system uses novel ARM Cortex—M3 microprocessor STM32F103ZET6 as processing unit,it is designed combining MEMS digital gyroscope with accelerometer,a simple and effective complementary filtering algorithm is applied to calculate attitude,which improves the precision of attitude measurement effectively.The experimental tests show that the attitude measurement system is simple,practical,it has stable property and high precision,and is able to meet the requirements for general UAV attitude measurement.

关 键 词：STM32 姿态测量系统 姿态解算 互补滤波 

分 类 号：V249[航空宇航科学与技术—飞行器设计]