STM32自主定位的小车导航系统设计  

Vehicle Autonomous Navigation System Based on STM32

作　　者：王玥[1] 张海[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《单片机与嵌入式系统应用》2015年第12期19-22,共4页Microcontrollers & Embedded Systems

摘　　要：设计了基于STM32F103VET6的自主定位四轮差速小车。为单轴陀螺仪ADIS16265、集成惯性测量单元MPU-9150及超声波测距模块设计了合理的数据采集与处理方法,完成小车短时间内高精度的航向角计算及长时间稳定的磁航向角计算,并对程序开发中遇到的堆栈溢出问题提出了解决方案。最后提出了各传感器信息的有效融合方法,采用航位推算的方法完成小车自主定位,实现了小车长时间沿预定轨迹自主稳定行驶的功能。A self-positioning four-wheel differential speed drive vehicle based on STM32F103VET6 is designed. In the paper, the reasona- ble method of data acquisition and processing for single-axis gyroscope ADlS16265,integrated inertial measurement unit MPU-9150 and ultrasonic distance measuring module is designed, which is used to complete the calculation of the heading angle with high precision in short-time and the calculation of the magnetic heading which is stable in long-time. The solution for the stack overflow problem encoun- tered in program development is proposed. Finally, the fusion method of multi-sensor information is given, and the dead-reckoning method is used to accomplish self-positioning for the vehicle. The vehicle implements the function of driving autonomously along predetermined trajectory with high stability in long-time.

关 键 词：STM32 ADIS16265 MPU-9150 磁航向角 堆栈溢出 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]