基于六轴MEMS器件姿态测量系统

Attitude measurement system based on six axis MEMS devices

摘要:

为了解决噪声和漂移等原因造成的误差不断累积的问题，针对陀螺仪的静态性能以及加速度计的动态性能，提出了一种利用六轴MEMS器件对照相机三脚架的稳定测量系统，介绍了MEMS器件的工作原理，介绍硬件系统和软件系统，完成了基于ADXR450陀螺仪和ADXL355加速度计的检测硬件系统设计，通过传感器获取角速度加速度信息，采用不同的滤波方式对输出结果进行了分析，比较卡尔曼滤波和一阶RC数字滤波。经比较，卡尔曼滤波实时性更好，一阶RC滤波动态响应更好。实验证明，系统静态下更适用于一阶滤波，计算出姿态测量角度误差在0.104°以内，得到理想的姿态信息，能有效的提高检测目标姿态的精度。

Abstract:

In order to solve the problem of error accumulation caused by noise and drift, aiming at the static performance of gyroscope and the dynamic performance of accelerometer, a stability measurement system for camera tripod based on six-axis MEMS device is presented. The principle of MEMS device, hardware system and software system are introduced, the detection hardware system based on ADXR450 GYROSCOPE and Adxl355 accelerometer is designed, the angular acceleration information is acquired by sensors, and the output results are analyzed by different filtering methods, compare Kalman filter and first order RC digital filters. By comparison, the Kalman filter filter has better real-time performance and better dynamic response. The experimental results show that the system is more suitable for first-order filtering in static state, and the angle error of attitude measurement is less than 0.104 °.