现代电子技术2016，Vol.39Issue(9)：12-14,21,4.DOI:10.16652/j.issn.1004-373x.2016.09.003
基于STM32的姿态测量系统设计
Design of attitude measurement system based on STM32
摘要
Abstract
An attitude measurement system based on micro inertial unit MEMS was designed by taking the miniaturization and light weight UAV attitude measurement system as the background. The STM32F103C8T6 is taken as the main controller in the system to acquire the measurement data of the inertial measurement unit MPU6050 and digital compass HMC5883L through I2C bus,and then the data fusion algorithm is used to solve the UVA current attitude. For the problems of MEMS temperature drift and noise interference,a complementary filtering algorithm based on quaternion is proposed to compensate and correct the measured attitude data. The experimental results show that the attitude measurement system is simple and reliable,and has sta⁃ble property and high precision. The attitude optimal control was successfully completed.关键词
MEMS/STM32/姿态测量系统/互补滤波Key words
MEMS/STM32/attitude measurement system/complementary filtering分类
信息技术与安全科学引用本文复制引用
李世光,王文文,申梦茜,高正中,肖佳宜..基于STM32的姿态测量系统设计[J].现代电子技术,2016,39(9):12-14,21,4.基金项目
中国博士后基金（2015T80729）特别资助 （）
