基于STM32的姿态测量系统设计  

Design of attitude measurement system based on STM32

作　　者：李世光[1] 王文文[1] 申梦茜 高正中[1] 肖佳宜 

机构地区：[1]山东科技大学电气与自动化工程学院,山东青岛266590

出　　处：《现代电子技术》2016年第9期12-14,21,共4页Modern Electronics Technique

基　　金：中国博士后基金(2015T80729)特别资助

摘　　要：以无人机航姿测量系统小型化、量轻化为背景,设计了一种基于微惯性单元MEMS的姿态测量系统。系统以STM32F103C8T6为主控制器,通过I2C总线分别采集惯性测量单元MPU6050和数字罗盘HMC5883L的测量数据,利用数据融合算法解算无人机当前姿态。对于MEMS温漂和噪声干扰的问题,提出了一种基于四元数的互补滤波算法,对测量的姿态数据进行补偿修正。实验结果表明,该姿态测量系统简单可靠、性能稳定、精确度高,成功完成了姿态的最优控制。An attitude measurement system based on micro inertial unit MEMS was designed by taking the miniaturization and light weight UAV attitude measurement system as the background. The STM32F103C8T6 is taken as the main controller in the system to acquire the measurement data of the inertial measurement unit MPU6050 and digital compass HMC5883 L through I2 C bus,and then the data fusion algorithm is used to solve the UVA current attitude. For the problems of MEMS temperature drift and noise interference,a complementary filtering algorithm based on quaternion is proposed to compensate and correct the measured attitude data. The experimental results show that the attitude measurement system is simple and reliable,and has stable property and high precision. The attitude optimal control was successfully completed.

关 键 词：MEMS STM32 姿态测量系统 互补滤波 

分 类 号：TN98-34[电子电信—信息与通信工程] TP249[自动化与计算机技术—检测技术与自动化装置]