基于STM32的四旋翼飞行器姿态测量系统设计
首发时间:2014-12-19
摘要:四旋翼飞行器也逐渐受到更多研究者的关注。本文主要提出了一种基于STM32的姿态测量系统设计方案。该姿态测量平台是采用STM32为主控制器的数据采集和计算姿态平台。在本文中,整个系统在STM32上移植μC/OS-Ⅲ操作系统,实现对加速度、角速度、磁阻数据等的采集,采用四元数计算、卡尔曼滤波等实现姿态数据测量,通过无线模块实现数据流的传送。通过无线接收模块,PC端上位机实现姿态获取展示。最后,通过对建立的实验平台的综合实验,验证了本文系统的可行性和有效性,能够实时采集有效的姿态数据。
关键词: 四旋翼飞行器 姿态测量 STM32 μC/OS-Ⅲ 四元数
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Rotor Aircraft Attitude Measurement System Design Based on The STM32
Abstract:With the development of unmanned aerial vehicles, four-rotor aircraft attracts more and more researchers' attention. This paper presents a rotor aircraft attitude measurement system design based on the STM32. The attitude measurement platform based on STM32 is a data acquisition and attitude calculation platform. In this paper, the system on the STM32 transplants the μC / OS-Ⅲ operating system, which gathers acceleration, angular velocity, and datas from other sensors, and uses quaternion algorithm, Kalman filtering to achieve attitude measurement datas. At last, this platform transports attitude measurement datas to PC soft through the wireless module. With wireless receiver module, PC soft can display attitude acquisition. Finally, through a comprehensive experiment on this platform, it has verified the platform's feasibility and effectiveness, which can get the effective attitude measurement datas in time.
Keywords: four-rotor aircraft attitude measurement STM32 μC/OS-Ⅲ quaternion algorithm
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