摘要
四轴无人机在空中受人为或环境中不定因素的影响,姿态发生变化。操作员如不能正确判断,在遥控上产生的失误会造成无人机损坏甚至人员伤害。针对这类问题,设计一套基于STM32的四轴无人机姿态测量和三维模型显示系统。系统以ARM Cortex-M3核的STM32为主控制器,读取运动处理器件MPU6050和磁力计HMC5883L组合成9轴传感器的输出并通过四元数姿态解算得到无人机的姿态角,经过CC1101芯片将姿态角数据发送给地面接收端。LabVIEW通过串口接收数据并完成对数据的分析与处理,实现四轴无人机三维图像实时显示。结果表明,姿态解算稳定可靠,系统结构简单,成本低,可移植性强,具有一定的实用性。
The attitude of a four-axis UAV changes in the air by human factors or uncertain factors in the environment.If the operator can't judge correctly,the mistakes made on the remote control will cause damage to the UAV and even injury to person.Aiming at this kind of problem,a set of attitude measurement and threedimensional model display system of four-axis UAV based on STM32 was designed.The system used the STM32 of the ARM Cortex-M3 core as the main controller,read the output of the 9-axis sensor which combined with motion processing device MPU6050 and the magnetometer HMC5883L,and obtained the attitude angle of the UAV through the quaternion algorithm.The CC1101 chip sent the attitude angle data to the ground receiving end.LabVIEW received data through the serial port and completed the analysis and processing of the data,and realized the real-time display of the three-dimensional image of the four-axis UAV.The results show that the attitude calculation is stable and reliable.The system has simple structure,low cost,strong portability and certain practicability.
作者
洪涛
梁晓瑜
马榕
胡斌
HONG Tao;LIANG Xiaoyu;MA Rong;HU Bin(School of Measurement and Testing Engineering,China Jiliang University,Hangzhou 310018,China;China Special Equipment Inspection and Research Institute,Beijing 100029,China)
出处
《中国测试》
CAS
北大核心
2020年第4期109-115,共7页
China Measurement & Test
基金
国家重点研发计划项目(2017YFF0210700)。
