基于STM32的MPU9255姿态解算算法的实现

本文采用STM32微控制器与MPU9255多轴姿态传感器结合,设计完成了水下机器人姿态检测和信息解算。通过MPU9255传感器内置的陀螺仪、加速度计和磁力计,对系统的三轴角速度、三轴加速度、三轴磁感应强度进行信息采集,利用四元数姿态解算方法,对所测量的数据进行分析与计算,进而解算成水下机器人的姿态信息,并采用PID算法输出PWM信号,实现对水下机器人系统的有效控制。文中给出信息采集、解算方法和程序算法思路,具有较好的实用价值。     

基于MARG传感器的头部姿态解算方法研究

针对头盔显示器(HMD)的头部姿态检测系统中单一传感器进行头部姿态解算准确度低、精度粗略的问题,提出了一种基于MARG传感器的头部姿态解算方法。将互补滤波与PI算法相结合估算陀螺仪的漂移误差,再通过扩展卡尔曼滤波(EKF)实现姿态数据融合。设计了由CC1310、陀螺仪、加速度计和磁强计组成的头部姿态检测单元进行测试实验。与单独的EKF对比,结果表明,这种算法对陀螺仪自身的漂移和加速度计噪声有抑制作用,提高了头部姿态解算的精度和稳定性。     

基于FPGA的水下姿态测试系统设计

本文主要针对水下某产品的姿态测量要求,设计了一种基于三轴加速度计和压力传感器的水下姿态测量系统。系统以FPGA为主控芯片,测得的数据通过通信模块传至存储模块,并最终上传至PC机中,为后期姿态的解算打下基础。     

基于改进欧拉法的姿态确定算法

本文介绍了姿态解算的传统方法欧拉角法。并提出了基于改进欧拉法的姿态确定算法,通过仿真结果的比较,证明其用于地磁传感器输出的姿态解算具有很高的计算精度。     

融合多传感信息的仿人机器人姿态解算

在RoboCup Soccer仿人机器人比赛中,机体姿态实时解算是仿人机器人运动控制系统的核心技术之一。文中分析了MEMS加速度计、磁强计和陀螺仪性能,以自主姿态测量为前提,融合惯性测量单元中多传感信息,提出了一种基于四元数的姿态解算算法。针对仿人机器人步行姿态控制中传感器数据存在的噪声干扰和测量误差,设计卡尔曼滤波器实现了对数据漂移的有效补偿,从而提高了全姿态检测的测量精度。试验结果验证了该算法对仿人机器人运动控制系统机体姿态实时解算的有效性。     

基于激光位移传感器的3维位置测量算法研究

为了实现空间高微重力主动隔振系统反馈控制回路设计,采用6个激光位移传感器对隔振平台上3个正交的定位面的位移进行测量,实现对其3维位置和姿态的解算,并给出了推导过程,通过数值仿真,实验验证了有效性,同时对于解算过程中的误差来源与其对解算结果的影响进行了分析,给出了误差影响因素与解算误差之间的关系。结果表明,此3维位置和姿态的解算算法能够准确地解算出隔振平台的3维位置和姿态,且理论解算误差在30μm以内。此研究对基于位移测量的反馈控制回路设计有一定的实用价值和发展前景。     

基于间隔子样旋转矢量的SINS圆锥误差补偿

针对激光陀螺捷联惯导系统的圆锥误差补偿问题,研究了区别于传统多子样算法的姿态解算方法,并提出一种基于间隔子样的等效旋转矢量捷联惯导系统(SINS)圆锥误差补偿方法。该方法通过陀螺仪输出数据中临近姿态解算周期角增量的相关性分析,选取最接近于无限小转动区间的数据,进而优化等效旋转矢量的修正。激光陀螺仪实测数据姿态解算结果表明,相比于一般多子样算法,新方法在补偿精度及算法收敛性等方面均有一定优势。     

微型四旋翼无人机磁测系统误差的两步校准法研究

用于地磁测量的MEMS三轴磁阻传感器越来越普遍的应用到无人机上进行姿态测量,为提高磁测系统的测量精度需要对传感器误差进行分析和补偿。现采用了一种两步校准法,即首先利用基于最小二乘的椭球假设拟合法对三轴矢量磁传感器的零偏、灵敏度与不正交误差进行标定补偿,目的是得到准确正交的传感器坐标系;利用四位置法对标定后传感器坐标系与测量系统坐标系之间的安装误差进行校准,从而得到磁测系统坐标系下的准确测量数据。无磁转台实验表明：经两步法后测量的磁场模值误差均值由校准前的2900nT降低为900nT,校准效果明显;测量系统单轴（Z轴）的误差均值由2736nT降低为49nT,有效的验证了安装误差校准的正确性。通过实验数据比较得出此方法优于传统的摇摆法,实际操作简单,不需要高精度辅助设备,能够有效的应用于无人机姿态测量系统校准,提高姿态角解算精度。     

一种基于DSP/FPGA的高转速载体角速度解算系统设计

由于陀螺仪量程较小,难以应用于高转速载体的姿态测试中,因此设计了以MEMS线加速度计ADXL377和地磁传感器HMC1043为微惯性测量单元(MIMU)的微型角速度解算系统。系统以FPGA作为协处理器控制ADC模块对11路传感器信号的同步转化,并对转换后的数据进行及时采集、缓存;以DSP芯片TMS320C6713作为主处理器完成角速度的实时解算。系统最大可测角速度达30 r/s,信号的采集、解算实时性强,角速度的测量精度高,而且电路半径仅5 cm,安装方便、功耗低。     

基于单个IMU的光电升降桅杆姿态测量方法

为解决光电桅杆在升降过程中的姿态解算问题,提出了一种全新的光电桅杆工作姿态测量方法。采用1个IMU实时测量光电桅杆升降过程中顶端工作部的点姿态(俯仰角,滚转角γ和方位角ψ),利用桅杆工作部起始点姿态与升降过程中工作点部姿态间的转换矩阵,实时解算出光电桅杆的工作姿态(扭曲角θ,倾斜角α,和偏向角β)。理论上推导了姿态解算方程,构建了光电升降桅杆动态姿态解算模型。利用姿态传感器MPU6050搭建了姿态测量系统,验证了桅杆姿态解算模型。实验结果表明:在 |θ,γ,ψ| < 90°时,此方法可以准确的测量出光电桅杆的工作姿态。     

自适应双参考磁场梯度探测原理

本文使用4个单分量磁探头构成双参考磁场梯度探测装置.4个探头组成3个磁场梯度传感器,其中一个为信号传感器,另两个为噪声传感器.以信号传感器输出作为原始输入,噪声传感器输出作为参考输入,采用自适应噪声抵消技术,能有效消除因载体运动产生的涡流磁场及因磁探头方向相对地磁方向改变而引起的噪声输出.本文提出的双参考磁场梯度探测装置具有工艺性好,灵敏度高,虚警概率低的优点,可在实际磁探系统中使用.     

Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing

In this paper, a quaternion based extended Kalman filter (EKF) is developed for determining the orientation of a rigid body from the outputs of a sensor which is configured as the integration of a tri-axis gyro and an aiding system mechanized using a tri-axis accelerometer and a tri-axis magnetometer. The suggested applications are for studies in the field of human movement. In the proposed EKF, the quaternion associated with the body rotation is included in the state vector together with the bias of the aiding system sensors. Moreover, in addition to the in-line procedure of sensor bias compensation, the measurement noise covariance matrix is adapted, to guard against the effects which body motion and temporary magnetic disturbance may have on the reliability of measurements of gravity and earth's magnetic field, respectively. By computer simulations and experimental validation with human hand orientation motion signals, improvements in the accuracy of orientation estimates are demonstrated for the proposed EKF, as compared with filter implementations where either the in-line calibration procedure, the adaptive mechanism for weighting the measurements of the aiding system sensors, or both are not implemented.     

三维螺旋极板电容传感器的静态分析与设计

针对电容传感器检测场较为复杂的特点,借助ANSYS软件对其进行三维静态模拟,分析了传感器结构参数对三维检测场的均匀性与灵敏度等指标的影响。通过有限元计算和优化设计,得到了最优的传感器结构参数,如屏蔽罩半径R3=27.37mm,极板长度L=207.39mm,极板旋转角度θP=270°,极板张角θ=135°等。优化后的传感...     

基于PNI传感器的电子指南针

鉴于采用磁阻传感器的数字指南针体现了高精度、高灵敏度的特点,提出基于PNI传感器的电子指南针系统。该系统以Atmega16作为主控芯片,由SEN-R65磁阻传感器、PNI11096磁场测量芯片组成数据采集端,由1602液晶、蜂鸣器、二极管及按键组成人机交互平台,实现了显示当前方向角、多级菜单操作、指南蜂鸣、磁场校准、定向导航、休眠节能等多项功能。实验证明,该电子指南针的方向角绝对误差降低至1.73%。     

Two-DOF magnetic orientation sensor using distributed multipole models for spherical wheel motor

This paper presents a new method for measuring a two degree-of-freedom (DOF) orientation of a permanent magnet (PM) based system using magnetic field measurements. The method exploits distributed multipole (DMP) modeling method to accurately predict a magnetic field, and provides a rational basis to inversely solve for the orientation of the PM from measured data. The PM-based magnetic sensor along with the ability to characterize the magnetic field in real-time offers advantages in sensing and control such as contact-free measurements eliminating frictional wears commonly encountered in existing designs with a combination of single-axis encoders, and high-speed sampling rate thus offering a higher bandwidth than methods based on imaging sensors. This paper demonstrates the efficient method capable of measuring the orientation of the PM by implementing it on a spherical wheel motor (SWM), where the two-DOF orientation is measured. Sensor performance has been studied both analytically and experimentally to validate the DMP-based sensor model. The results can offer valuable insights for optimizing contact-free sensor designs.     

基于线性霍尔传感器的角度测量的非线性校正方法研究

本文提出了一种基于线性霍尔传感器的角度测量的非线性校正方法,在固定磁铁上绕制一定匝数的线圈,线圈产生的磁场与磁铁产生的磁场垂直,空间磁场为上述两个磁场的叠加,固定霍尔传感器的位置,同时保持控制电流不变,让磁铁绕霍尔传感器旋转产生角度的变换,霍尔传感器输出电压也将产生变化。对增加线圈和不增加线圈两种结构进行理论分析和仿真,从仿真结果看,霍尔电压与夹角的关系曲线明显线性增加,测量范围扩大,在角度测量中具有独特的优点。同时设计了传感器硬件电路,进行了实验测量,仿真和实测结果表明：该方法具有电路简单、实时性好、频率相应快、抗干扰能力强、安装调试方便等特点。     

Integrated semiconductor magnetic field sensors

A magnetic field sensor is an entrance transducer that converts a magnetic field into an electronic signal. Semiconductor magnetic field sensors exploit the galvanomagnetic effects due to the Lorentz force on charge carriers. Integrated semiconductor, notably silicon, magnetic field sensors, are manufactured using integrated circuit technologies. Integrated sensors are being increasingly developed for a variety of applications in view of the advantage offered by the integration of the magnetic field sensitive element together with support and signal processing circuitry on the same semiconductor chip. The ultimate goal is to develop a broad range of inexpensive batch-fabricated high-performance sensors interfaced with the rapidly proliferating microprocessor. This review aims at the recent progress in integrated silicon magnetic devices such as integrated Hall plates, magnetic field-effect transistors, vertical and lateral bipolar magnetotransistors, magnetodiodes, and current-domain magnetometers. The current development of integrated magnetic field sensors based on III-V semiconductors is described as well. Bulk Hall-effect devices are also reviewed and serve to define terms of performance reference. Magnetic device modeling and the incorporation of magnetic devices into an integrated circuit offering in situ amplification and compensation of offset and temperature effects are further topics of this paper. Silicon will continue to be aggressively exploited in a variety of magnetic (and other) sensor applications, complementary to its traditional role as integrated circuit material.     

A Battery‐Less Arbitrary Motion Sensing System Using Magnetic Repulsion‐Based Self‐Powered Motion Sensors and Hybrid Nanogenerator

Self‐powered arbitrary motion sensors are in high demand in the field of autonomous controlled systems. In this work, a magnetic repulsion‐assisted self‐powered motion sensor is integrated with a hybrid nanogenerator (MRSMS–HNG) as a battery‐less arbitrary motion sensing system. The proposed device can efficiently detect the motion parameters of a moving object along any arbitrary direction and simultaneously convert low frequency (<5 Hz) vibrations into useful electricity. The MRSMS–HNG consists of a central magnet for the electromagnetic (EMG)–triboelectric (TENG) nanogenerator and four side magnets for motion sensors. Because all the magnets are aligned in the same magnetization direction, the repulsive force owing to the movement of the central magnet actuates the side magnets to achieve self‐powered arbitrary motion sensing. These self‐powered motion sensors exhibit a high sensitivity of 981.33 mV g^?1 under linear motion excitation and have a tilting angle sensitivity of 9.83 mV deg^?1. The proposed device can deliver peak powers of 27 mW and 56 µW from the EMG and TENG, respectively. By integrating the self‐powered motion sensors and hybrid nanogenerator on a single device, real‐time wireless transmission of motion sensor data to a smartphone is successfully demonstrated, thus realizing a battery‐less arbitrary motion‐sensing system for future autonomous control applications.     

Easy-Cone Magnetic State Induced Ultrahigh Sensitivity and Low Driving Current in Spin-Orbit Coupling 3D Magnetic Sensors

Measurement of 3D vector magnetic field is of vital importance for the development of magnetic navigation, biomedical diagnosis, and microimaging. Traditional 3D magnetic sensors require cooperation of multiple sensors on three orthogonal planes, resulting in disadvantages of bulky size and low spatial resolution. Recently proposed spin orbit torque sensor based on ferromagnetic/heavy-metal heterostructures can detect three magnetic field components individually due to the different symmetries of current-polarity-dependent magnetization dynamic. However, the large driving current density and complex driving procedure hinder their practical application, especially in AC magnetic field detection. Herein, 3D magnetic sensors with dramatically reduced driving current density are reported, one fifth of the original value, by exquisite engineering of the magnetic anisotropy in Pt/Co/Ta heterostructures. With further reduced perpendicular magnetic anisotropy, the sensor in the easy-cone state demonstrates a record-high sensitivity of 31196 V A⁻¹ T⁻¹. More importantly, the easy-cone state sensor can work with an ultralow driving current density of 3.8 kA cm⁻², which is three orders lower than previous results. Although easy-cone state sensor can only measure the z-axis field, highly compact 3D magnetic sensor can be realized by adoption of two anisotropic magnetoresistance sensors, promising great potential application in space- and energy-restricted scenarios.     

交变磁场传感器法拉第屏蔽的研究

为了更有效的接收所需信号,我们除了进一步提高传感器本身的性能外,还要消除一些不必要的干扰.在检测低频交变磁场而且磁场信号极其微弱时,首先要选用高性能的交变磁场传感器将交变磁场信号转换为电信号,然后采用一系列的选频放大等电子技术,这样在两者之间就会产生不必要的电场耦合,影响对有用信号的准确测量,为了阻断该电场耦合,对交变磁场传感器采用法拉第屏蔽是不可或缺的重要环节.