基于STM32便携式航向姿态参考系统设计  

Design of Portable Attitude and Heading Reference System Based on STM32

作　　者：陈阳[1] 宋昌盛[1] 吴智铧 

机构地区：[1]龙岩学院,福建龙岩364000

出　　处：《龙岩学院学报》2017年第2期58-62,79,共6页Journal of Longyan University

基　　金：福建省大学生创新创业训练项目(201511312044);龙岩学院博士科研启动项目(LB2014008);龙岩学院"国家基金培育项目"(LG2014002);福建省中青年教师教育科研项目(JA15492)

摘　　要：研究基于嵌入式的航向姿态参考系统,采用STM32处理器及MEMS三轴陀螺仪、三轴加速度计与三轴磁强计进行系统的硬件设计。三轴磁强计进行了基于椭球约束的测量磁场校正。以四元数的微分方程为基础,采用扩展卡尔曼滤波方法对传感器数据进行融合。以陀螺仪测量得到的角速率作预测更新,以重力加速度和磁场测量作为观测更新,得到可靠的姿态角信息。A research based on embedded AHRS is carried out using the STM32 micro-processor and MEMS threeaxis gyroscopes, three-axis accelerometers and three-axis magnetometers. The threeaxis magnetometer is corrected based on the ellipsoidal restriction method to supply the valid measurement of magnetic field. Based on the quaternion differential equation, the extended Kalman filter method is used for the sensor information fusion to get reliable attitudes. The angular rate of the gyroscope is used as the forecast updating while the measurements of the acceleration of gravity and the local magnetic field are used as the observation updating.

关 键 词：AHRS 卡尔曼滤波 磁强计校正 

分 类 号：TP212.6[自动化与计算机技术—检测技术与自动化装置]