宁夏大学学报（自然科学版）2025，Vol.46Issue(4)：428-436,9.DOI:10.20176/j.cnki.nxdz.000057
基于STM32和MPU9250的高精度姿态检测系统设计
The Design of High-Precision Attitude Detection System Based on STM32 and MPU9250
摘要
Abstract
Currently,the attitude detection sensors available on the market suffer from a mismatch between per-formance and practicality.High-precision attitude sensors,while accurate,are often expensive,bulky,and lack portability.Conversely,commonly used economical attitude sensors exhibit significant measurement errors,making them unsuitable for high-precision applications.To address these issues,the design of a high-precision attitude detection system was proposed,based on the STM32 embedded processor and the MPU9250 sensor.This system utilized the high-performance STM32 as its control core,integrating the MPU9250 nine-axis sensor(which included a three-axis accelerometer,a three-axis gyroscope,and a three-axis magnetome-ter).By employing attitude solution techniques,quaternion algorithms for Euler angle calculation,and multi-source data fusion technology,the raw data collected from the sensors was processed to achieve noise suppres-sion and error compensation.This enhanced both the accuracy and stability of attitude measurements.Through practical testing,the system demonstrated the capacity to capture the motion trajectory and attitude information of objects in real time,which was visually presented in a graphical user interface on a host computer.Users could effectively monitor dynamic changes in object motion states through the software,benefiting from high measurement precision,low hardware cost,compact size,and strong portability.This system is widely applica-ble in various scenarios requiring high-precision attitude detection.关键词
STM32/MPU9250传感器/四元数/姿态解算/上位机显示Key words
STM32/MPU9250 sensor/quaternion/attitude solution/host computer display分类
信息技术与安全科学引用本文复制引用
PENG Jinghua..基于STM32和MPU9250的高精度姿态检测系统设计[J].宁夏大学学报（自然科学版）,2025,46(4):428-436,9.基金项目
福建省自然科学基金资助项目(2019J01087) （2019J01087）
福建省中青年教师教育科研项目(JAT190973,JAT170780) （JAT190973,JAT170780）
福建省教育厅A类科技项目(JA15628) （JA15628）
