注：国家自然科学基金资助项目（NO.61271047；NO.61571053)
北京市属高校创新能力提升计划项目（NO.TJSHG20130720026)
作者：徐万芝1，高国伟1，潘宏生2，杨寰3，毛瑞燕1
单位：1.北京信息科技大学传感器重点实验室，北京100192；
2.北京国科舰航传感技术有限公司，北京 100101
3.北京机械设备研究所 物资供应室，北京 100039
中图分类号：V448.22
文献标识码：A
文章编号：1006-883X(2016)07-0007-06
收稿日期：2016-05-25
摘要：为了使姿态测量得到更为广泛的应用，应用MPU-6050惯性测量模块设计了一款运动体姿态角度测量系统。硬件设计主要包括微处理器控制模块、惯性测量模块、串口通信模块等；软件设计主要介绍了姿态解算的原理、四元数姿态解算算法，以及系统软件工作流程等；系统微处理器模块选用STM32F103C8T6，采用RS232 接口与PC机进行交互通信并通过三轴转台进行系统测试。测试结果表明，系统对运动体姿态角度的检测具有较好的测量效果，测量角度较为准确，适用于大多数运动体姿态的测量，系统性价比较高，性能稳定性较好，具有较高的实用价值。
关键词：姿态角；惯性传感器；四元数；姿态解算；三轴转台
Design and implementation of a MEMS-based attitude angle measuring system for moving objects
XU Wan-zhi1, GAO Guo-wei1, PAN Hong-sheng2, YANG Huan3, MAO Rui-yan1
1.Key laboratory of sensor, Beijing Information Science and Technology University, Beijing 100192 China; 2. Beijing GKsens Sensing Technology Co., Ltd. Beijing 100101, China; 3. Material supply room, Beijing Machinery Institute, Beijing 100039, China
Abstract: In order to make attitude measurement used widely, a MPU-6050 inertial measuring module is applied to design an attitude angle measuring system for moving objects. Hardware is designed, including a microprocessor control module, inertial measurement module, serial communication module and so on; The software-related design work is introduced too, such as the principle of attitude calculation, quaternion attitude algorithm, workflow of software and so on. The system uses STM32F103C8T6 as microprocessor module , RS232 interface to communicate with PC and three-axis turntable system to complete system test .Test results show that: the system has better results in detecting attitude angles of moving objects with more high accuracy, and is suitable of attitude measurement of most of moving objects. The system has high practical value as its high quality –value ratio for money and good performance stability
Keywords: attitude angle; inertial sensor; Quaternion algorithm; attitude algorithm; three-axis turntable
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备注：2016年 第22卷 第07期