基于DSP和STM32的姿态解算装置设计

葫芦娃-420752

  基于DSP和STM32的姿态解算装置设计
摘  要：设计一套基于DSP和STM32单片机的姿态传感器采集系统，无人飞行器的控制、跳伞训练姿态监测需要高精度的姿态运动信息作为反馈输入，要求测量模块具有功耗低、响应快和体积小的特点，采用低成本的MEMS器件与STM32单片机并结合DSP高速的数据处理能力，构建航向姿态参考系统硬件平台。针对传感器特点，设计了基于扩展卡尔曼滤波算法的双矢量校正方法，并给出磁传感器的校正方法和陀螺仪的温度补偿。
关键词：DSP和STM32;航向姿态;扩展卡尔曼滤波
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The Attitude Solution System Design Based On The DSP, and STM32 
Lin Huican  Gao Ying  Shi Yu  Liu Yang
( Department of Information Confrontation, Aviation University of Air Force, Changchun 130022,China)
Abstract：Design a DSP, and STM32 microcontroller-based attitude sensor acquisition systems, the control of the unmanned aerial vehicle, parachute training posture monitoring requires high-precision gesture motion information as the feedback input, requiring measurement module has low power consumption, fast response and small size, the use of low-cost MEMS devices with STM32 microcontroller and DSP, high-speed data processing capabilities, building heading attitude reference system hardware platform. Dual vector correction method based on the extended Kalman filter algorithm, and given the correction of the magnetic sensor and temperature compensation of the gyro sensor characteristics, design.
Keywords：DSP, and STM32; Heading attitude;Extended Kalman filter