基于MEMS陀螺仪的惯性跟踪装置的设计及算法实现

文章针对增强现实环境下对真实物体的三维空间姿态跟踪需要,以新型MEMS（微机电系统）陀螺仪元器件和加速度传感器为基础,构建了一种低功耗、结构紧凑、成本低廉的跟踪装置。本装置以atmega128单片机为平台,通过对模拟信号采集、转换,进行卡尔曼滤波和欧拉角算法处理,最终计算出物体的姿态并将其叠加到虚拟空间中,从而达到姿态和位置跟踪的目的。

Design and Algorithmic Implementation for the Inertial Tracking Device Based on MEMS Gyroscope

Aiming at the need to the three-dimensional attitude tracking of real objects in the augmented reality environment, this paper builds a low power, compact structure, low-cost tracking device, based on the novel Micro Electro Mechanical Systems （MEMS） gyroscope and acceleration transducer. Platform-Based on atmega128 microcontroller platform, this device completes the process of the acquisition of the analog signal, conversion, Kalman filtering and Eulerian angle algorithm processing, the final computation of object＇ attitude and superimposition into the virtual space, which achieves the goal of tracking the pose and position.