基于卡尔曼滤波的陀螺仪电参数测量系统设计  

Design of Gyroscope Electrical Parameter MeasurementSystem Based on Kalman Filtering

作　　者：刘旭 杨智勇 张道德[1,2] 胡新宇[1] 魏琼[1] 鲁恩顺 LIU Xu;YANG Zhiyong;ZHANG Daode;HU Xinyu;WEI Qiong;LU Enshun(School of Mechanical Engineering,Hubei Univ.of Tech.,Wuhan 430068,China;Agricultural Machinery Engineering Research and Design Institute,Hubei Univ.of Tech.,Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068 [2]湖北工业大学农业机械工程研究设计院,湖北武汉430068

出　　处：《湖北工业大学学报》2025年第1期7-11,19,共6页Journal of Hubei University of Technology

基　　金：国家自然科学基金(51907055);湖北省教育厅重点项目(D20221404)。

摘　　要：为提高陀螺仪传感器电参数测量值的精度与可靠性,设计一套基于卡尔曼滤波的陀螺仪传感器电参数测量系统.采用STM32F407芯片作为上下位机的主控制器,通过无线通讯实现数据交互.下位机使用AD转换电路测量陀螺仪传感器的关键电参数;上位机采用7吋LCD显示屏提供直观的数据展示和触摸按键输入功能.利用卡尔曼滤波算法对测量数据进行误差补偿处理,以提高陀螺仪传感器测得的偏转角度和俯仰角度等多通道电压、电流测量数据的准确性和稳定性.进行测量系统与高精度倾角仪的对比实验,结果表明,该测量系统对陀螺仪传感器的电压、电流、偏转角和俯仰角的最大测量误差分别为0.07V、0.18mA、0.05°和0.042°,在允许误差范围内.To improve the accuracy and reliability of gyroscope sensor electrical parameter measurements,a gyroscope sensor electrical parameter measurement system based on Kalman filtering was designed.Firstly,the system employed the STM32F407 chip as the main controller for both the upper and lower computers,enabling data interaction through wireless communication.The lower computer used an AD conversion circuit to measure the crucial electrical parameters of the gyroscope sensor.The upper computer featured a 7-inch LCD display screen,providing intuitive data visualization and touch button input functionality.Subsequently,the measured data was processed using the Kalman filtering algorithm to compensate for errors,enhancing the accuracy and stability of the gyroscope sensor's measured values,including deflection angle,pitch angle,and other multi-channel voltage and current measurements.Finally,a comparative experiment was conducted between the measurement system and a high precision inclinometer.The results showed that the maximum measurement errors of the gyroscope sensor's voltage,current,deflection angle,and pitch angle were 0.07V,0.18mA,0.05 degrees,and 0.042 degrees,respectively,all within the allowable error range.

关 键 词：陀螺仪传感器 卡尔曼滤波 电参数 测量系统 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]