| 构建基于线性CCD的直立行走嵌入式系统 |
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| 引用本文： | 曹华杰,吕传龙,刘浩东.构建基于线性CCD的直立行走嵌入式系统[J].电子科技,2016,29(2):58. |
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| 作者姓名： | 曹华杰 吕传龙 刘浩东 |
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| 作者单位： | (1.西南交通大学 信息科学与技术学院,四川 成都 611756;
2.西南交通大学 电气工程学院,四川 成都 611756) |
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| 基金项目： | 全国大学生创新基金资助项目(201310292023Z);江苏省大学生创新基金资助项目(201310292039Y) |
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| 摘 要： | 为设计一种能在狭小和复杂电磁环境下运动的双轮直立系统,以飞思卡尔公司xs128嵌入式单片机作为控制和处理核心,通过线性CCD进行路况识别,并将MMA7260加速度计和ENC03陀螺仪采集的角度信号通过卡尔曼算法进行滤波,从硬件设计到软件以及算法调试。通过实验测试表明,本系统运行稳定、可靠,可适用于该种特定场景。
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| 关 键 词： | 双轮直立 线性CCD 陀螺仪 加速度计 卡尔曼算法 |
A Vertical Working Embedded System Based on Linear CCD |
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| CAO Huajie,L Chuanlong,LIU Haodong.A Vertical Working Embedded System Based on Linear CCD[J].Electronic Science and Technology,2016,29(2):58. |
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| Authors: | CAO Huajie L Chuanlong LIU Haodong |
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| Affiliation: | (1.School of Information Technology,Southwest Jioatong University,Chengdu 611756,China;
2.School of Electrical Engineering,Southwest Jioatong University,Chengdu 611756,China) |
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| Abstract: | A two wheeled upright systems for narrow and complex electromagnetic environment is designed with a Freescale xs128 embedded micro-controller as the controlling and processing core.The linear CCD and MMA7260 accelerometer and ENC03 gyroscope are used for road condition detection and Kalman algorithm for filtering.Hardware and software design is performed and the algorithm debugged.The experimental tests show that the system is stable and reliable,and can be applied to this particular scene. |
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| Keywords: | vertical working linear CCD gyroscope accelerometer Kalman |
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