基于硬件FPU的姿态解算系统设计  

Design of attitude resolving system based on hardware FPU

作　　者：李伟伟 于纪言 LI Weiwei;YU Jiyan(Minsterial Key Laboratory of ZNDY,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学智能弹药国防重点学科实验室,江苏南京210094

出　　处：《传感器与微系统》2020年第7期89-91,共3页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(11602111)。

摘　　要：为了提高四旋翼飞行器姿态解算的速度和姿态估计的精度,提出了一种基于硬件浮点运算单元(FPU)的姿态解算系统。以STM32F407ZET6和MPU9250等作为实验平台,对惯性测量单元(IMU)传感器原始数据进行滑动平均滤波处理后再进行互补滤波算法计算,利用数字信号处理(DSP)库的硬件FPU对互补滤波算法进行加速。实验结果表明:本系统可将姿态解算的速度提高至800Hz,俯仰角、横滚角、偏航角的精度分别提升至±0.17°,±0.26°,±0.03°,满足小型四旋翼飞行器姿态解算的精确性和快速性要求。In order to improve the speed of attitude solution and the precision of attitude estimation for four-rotor aircraft,an attitude calculation system based on hardware floating-point computing unit(FPU)is proposed.Taking STM32F407ZET6 and MPU 9250 as experimental platforms,the original data of inertial measurement unit(IMU)sensors are processed by sliding average filtering,and calculated by complementary filtering algorithm,and the complementary filtering algorithm is accelerated by the hardware FPU of the DSP library.The experimental results show that the system can increase the speed of attitude solution to 800Hz,the precision of pitch angle is increased to±0.17°,the precision of roll angle is increased to±0.26°,and the precision of yaw angle is increased to±0.03°,which meets the requirements of accuracy and rapidity of attitude solution for small quadruple-rotor aircraft.

关 键 词：互补滤波 姿态解算 四旋翼飞行器 浮点运算单元(FPU) 四元数 MPU9250传感器 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]