基于卡尔曼滤波的动态角度测量系统设计

数字倾角仪主要用于静态环境下的角度测量，但当被测物体在动态（非匀速直线运动）环境下，倾角仪内部加速度计会受到除重力加速度外的加速度影响而变得不准确，此时仅依靠加速度无法准确解算出被测物体真实角度。针对动态下的测量问题，设计一种低成本的动态角度测量系统，利用MPU9255传感器中集成的三轴加速度计和三轴陀螺仪，采用融合陀螺数据的卡尔曼滤波和系统误差补偿，解决加速度计在动态下无法准确测量角度的问题。经测试表明，所设计的测量系统能够满足动态下较高精度的角度测量。

Design of dynamic angle measurement system Base on Kalman filter

Digital inclinometer is mainly used for measuring the angle of static environment, but when the measured object in a dynamic (non-uniform motion) environment, internal accelerometer of inclinometer will be affected by other acceleration besides gravitational acceleration becomes inaccurate, if we only rely on acceleration cannot be calculated by the object$#@%%$s angle accurately. In order to deal with problems of dynamic measurement, we design a low-cost dynamic angle measurement system using MPU9255 sensor integrated three-axis accelerometer and three-axis gyroscope. Using gyroscope data fusion Kalman filter and system error compensation, to resolve the problem of accelerometer cannot be measured in a dynamic angle accurately. After testing, the measurement system can be meeting the high accuracy angle in the dynamic measurement.