摘要
对于微小型无人直升机系统,本文介绍了基于DSP的三维测姿系统的硬件电路设计和四元数解算算法的实现及验证。该系统的硬件部分由角速率陀螺、滤波电路和DSP系统板等组成。角速率陀螺输出信号经过硬件滤波后由AD通道采集,经过数字滤波后,利用四元数算法解算出姿态数据。文中提出了硬件设计和实现及解算算法实现中需要注意的问题和相应的解决方案,测试结果表明该系统是有效的。
For the miniature unmanned helicopter system, a three-dimension attitude acquisition system based on DSP controller is introduced, including implementation and verification of the hardware circuit and the quaternion algorithm. The system is constituted of yaw rate gyros, filter circuits and a platform based on DSP. Through the filter circuit, the analog signals from gyros are sampled by AD channels in the platform and smoothed by digital filter, then applied to calculate the attitude data by the quaternion algorithm. The problems and corresponding solutions are stated for the design and implementation process of hardware circuits and algorithms. The effectiveness of the system is demonstrated by the experiment results.
出处
《测控技术》
CSCD
北大核心
2009年第7期81-84,共4页
Measurement & Control Technology
基金
国家自然科学基金资助项目(60736024
60674017)
关键词
测姿
微小型无人直升机
四元数算法
数字滤波
attitude acquisition
miniature unmanned helicopter
quaternion algorithm
dgital filter
