基于STM32和MPU6050姿态解算的研究与实现  

Research and Implementation of Attitude Solving Algorithm Based on STM32 and MPU6050

作　　者：李臣龙[1] 强俊[1] 

机构地区：[1]安徽工程大学计算机与信息学院,安徽芜湖241000

出　　处：《佳木斯大学学报（自然科学版）》2017年第2期295-298,316,共5页Journal of Jiamusi University：Natural Science Edition

基　　金：安徽省高等教育提升计划省级自然科学研究一般项目(TSKJ2015B16)

摘　　要：使用MPU6050内置的DMP,实现了载体的姿态解算,不仅简化代码设计,而且降低了MCU的负担,MCU不用进行姿态解算过程,从而有更多的时间去处理其他事件,提高系统实时性。通过设计的硬件平台,软件仿真了三轴陀螺仪、三轴加速度和欧拉角实时变化,结果表明,姿态解算稳定可靠。This paper uses built - in DMP of MPU6050, to achieve the calculation of a cartier attitude. We not only greatly simplify designing the code, but also greatly reduce the burden on the MCU. MCU has more time to deal with other events without performing attitude solution process, which will improve the system in real -time. Through the hardware platform, we use software to simulate three -axis gyroscope, three -axis acceleration and real - time changes of Euler angles, and the results shows that attitude solution is stable and reliable.

关 键 词：STM32 MPU6050 四元数 姿态解算 

分 类 号：V241.02[航空宇航科学与技术—飞行器设计]