智能小车加速度计及陀螺仪装置的设计  

Design of Accelerometer and Gyroscope Device in Intelligent

作　　者：王丹丹 谭开拓 赵建周[1] WANG Dandan;TAN Kaituo;ZHAO Jianzhou(College of Electronic Information and Electrical Engineering,Anyang Institute Of Technology,Anyang 454000,China)

机构地区：[1]安阳工学院电子信息与电气工程学院

出　　处：《安阳工学院学报》2019年第4期7-9,18,共4页Journal of Anyang Institute of Technology

基　　金：河南省科技攻关项目（182102110295）;河南省科技智库课题项目（HNKJZK-2019-30B）;安阳市科技攻关项目（121）;河南省高校博士科研启动项目（BSJ2017006）

摘　　要：当前,微机电系统技术的不断成熟推动了加速度计、陀螺仪等元件的快速发展。利用倾角传感器进行角度的测量,价格过于昂贵,适用范围较窄。微加速度计和微陀螺仪低成本小体积且性能稳定。选用卡尔曼滤波法,将加速度计和陀螺仪获取的数据整合到一起以达到小车倾角信息的最优估计。以MPU6050作为设计目标,从软硬件、功能设计到仿真,从微机电系统的原理和结构分析MPU6050的特点,然后利用设计出的MPU6050传感器模块在在移动终端进行软件的测试,编写相关程序,满足小车姿态检测的需要。At present, the development of MEMS technology has promoted the rapid development of accelera. tors, gyroscopes and other components. The price of angle measurement by inclination sensor is too high, but the range of application is narrow. At the same time, the cost of micrometer and gyroscope Relatively cheap, in addi. tion to the size of the two smaller easier to install, and more stable and more secure performance. In this paper, the Kalman filter is used to integrate the data obtained by accelerometer and gyroscope to achieve the optimal es. timation of the inclination information of the vehicle. This paper takes MPU6050 as the design goal, starting with the design of hardware and software, the basic function and the design simulation, studies the basic working prin. ciple and the signal processing method of the micro inertial device. The characteristics of MPU6050 are analyzed from the principle and structure of MEMS system. Then the software is tested in mobile terminal by using the de. signed MPU6050 sensor module, and the related program is written to meet the needs of vehicle balance control. Achieve the car body balance effect.

关 键 词：MEMS 微加速度计 关陀螺仪 倾角检测 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]