摘要
提出一种新型的六自由度平台的姿态测量系统设计方案,该方案是以STM32为主控制器实现对平台的数据采集和姿态计算.由传感器得到平台的加速度、角速度和磁阻数据,采用四元数法作为六自由度平台的姿态更新算法,经互补滤波后得到六自由度平台的姿态角,通过无线传输到上位机显示,并将数据存于外接存储器中.上位机显示结果和试验数据表明该六自由度平台姿态测量系统是稳定可靠的.
A new type of attitude measuring system design scheme of six degrees of freedom platform is proposed, realizing data collection and attitude calculation for the platform using STM32 as the main controller. The acceleration, angular velocity and magnetic resistance data are obtained by the sensor, the quaternion method is adopted as the attitude updating algorithm of the six degrees of freedom platform, and the attitude angle of the six degrees of freedom platform can be got after the complementary filter, through the wireless transmission , the attitude angle is displayed on PC, also, the data is stored in external memory. The results and experimental data of the PC display show that the proposed six degrees of freedom platform attitude measuring system is stable and reliable.
出处
《东华大学学报（自然科学版）》
CAS
CSCD
北大核心
2016年第4期597-603,共7页
Journal of Donghua University(Natural Science)
关键词
六自由度平台
STM32
姿态测量
无线传输
six degrees of freedom platform
STM32
attitude measurement
wireless transmission
