基于六轴MEMS器件姿态测量系统  

Attitude Measurement System Based on Six Axis MEMS Devices

作　　者：景希 高国伟[1,2] Jing Xi;Gao Guowei(Beijing Key Laboratory of Sensors Technology,Beijing University of Information Science and Technology,Beijing 100101,China;Ministerial Key.Lab.of Modern Measurement and Control Tech.,Beijing University of Information Science and Technology,Beijing 100101,China)

机构地区：[1]北京信息科技大学传感器北京市重点实验室,北京100101 [2]北京信息科技大学现代测控技术教育部重点实验室,北京100101

出　　处：《计算机测量与控制》2021年第6期55-59,135,共6页Computer Measurement &Control

基　　金：国家自然科学基金(61571053)。

摘　　要：为了解决噪声和漂移等原因造成的误差不断累积的问题,针对陀螺仪的静态性能以及加速度计的动态性能,提出了一种利用六轴MEMS器件对照相机三脚架的稳定测量系统,介绍了MEMS器件的工作原理,介绍硬件系统和软件系统,完成了基于ADXR450陀螺仪和ADXL355加速度计的检测硬件系统设计,通过传感器获取角速度加速度信息,采用不同的滤波方式对输出结果进行了分析,比较卡尔曼滤波和一阶RC数字滤波;经比较,卡尔曼滤波实时性更好,一阶RC滤波动态响应更好;实验证明,系统静态下更适用于一阶滤波,计算出姿态测量角度误差在0.104°以内,得到理想的姿态信息,能有效地提高检测目标姿态的精度。In order to solve the problem of error accumulation caused by noise and drift,aiming at the static performance of gyroscope and the dynamic performance of accelerometer,a stability measurement system for camera tripod based on six-axis MEMS device is presented.The principle of MEMS device,hardware system and software system are introduced,the detection hardware system based on ADXR450 gyroscope and ADXL355 accelerometer is designed,the angular acceleration information is acquired by sensors,and the output results are analyzed by different filtering methods,compare Kalman filter and first order RC digital filters.By comparison,the Kalman filter has better real-time performance and better dynamic response.The experimental results show that the system is more suitable for first-order filtering in static state,and the angle error of attitude measurement is less than 0.104°.

关 键 词：MEMS器件 姿态测量 卡尔曼滤波 加速度计 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]