| 基于ARM与低成本MEMS器件的AHRS设计 |
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| 引用本文： | 梁建宏,田伟程,王田苗.基于ARM与低成本MEMS器件的AHRS设计[J].单片机与嵌入式系统应用,2012,12(5):1-4. |
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| 作者姓名： | 梁建宏 田伟程 王田苗 |
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| 作者单位： | 北京航空航天大学机械工程及自动化学院,北京,100191 |
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| 摘 要： | 自平衡机器人、多旋翼无人飞行器的控制需要高精度的姿态运动信息作为反馈输入，要求测量模块具有响应快、体积小和功耗低的特点。采用低成本的MEMS器件与STM32单片机构建了航向姿态参考系统硬件平台。针对传感器的特点，设计了基于扩展卡尔曼滤波算法的双矢量校正方法，并给出了陀螺仪的温度补偿、磁传感器的校正方法。
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| 关 键 词： | 微机电系统 航向姿态参考系统 扩展卡尔曼滤波 |
Design of AHRS Based on ARM and Low-cost MEMS Devices |
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| Liang Jianhong,Tian Weicheng,Wang Tianmiao.Design of AHRS Based on ARM and Low-cost MEMS Devices[J].Microcontrollers & Embedded Systems,2012,12(5):1-4. |
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| Authors: | Liang Jianhong Tian Weicheng Wang Tianmiao |
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| Affiliation: | (School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China) |
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| Abstract: | Controls of the self balancing robot and multi-rotor UAV require high-precision attitude motion informations as feedback in puts, and measurement modules have fast response, small size and low power consumption. Using the low-cost MEMS device and STM32 microcontroller,the hardware platform of attitude heading reference system is built. Aiming at the features of sensor, two-vector correction is designed based on extended Kalman filter algorithm. Correction methods of gyroscope＇s temperature compensation and magnetic sensor are given. ey words. |
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| Keywords: | MEMS AHRS Extended Kalman Filter |
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