摘要
针对于目前大多数基于加速度计的数字倾角仪只能测量静态环境下物体的倾角,但当被测物体在动态(非匀速直线运动)环境下时测量误差大的问题,设计一种低成本的动态角度测量系统。利用MPU9255传感器中集成的三轴加速度计和三轴陀螺仪,采用融合陀螺数据的卡尔曼滤波和系统误差补偿,解决加速度计在动态下无法准确测量角度的问题。经测试,所设计的测量系统能够满足动态下较高精度的角度测量。
Aiming at the problem that most current digital inclinometer based on accelerometer can only measure object’s angle under static environment,but it will have higher error when the measured object is under the dynamic environment.we design a low-cost dynamic angle measurement system using MPU9255 sensor integrated three-axis accelerometer and three-axis gyroscope.Using gyroscope data fusion Kalman filter and system error compensation resolves the problem of accelerometer which cannot be measured in a dynamic angle accurately.After testing,the measurement system can meet the high accuracy angle in the dynamic measurement.
作者
张波
李杰
刘伟
杨雁宇
胡陈君
ZHANG Bo;LI Jie;LIU Wei;YANG Yanyu;HU Chenjun(Key Laboratory of Instrumentation Science and Dynamic Measurement North University of China,Ministry of Education,Taiyuan 030051,China;Suzhou Fashion Nano Technology Co.,Ltd,Suzhou Jiangsu 215000,China)
出处
《电子器件》
CAS
北大核心
2018年第2期375-379,共5页
Chinese Journal of Electron Devices
基金
国家自然科学基金项目(51575500)
关键词
动态测量
卡尔曼滤波
系统误差补偿
MPU9255传感器
dynamic measurement
Kalman filter
system error compensation
MPU9255 sensorcracks
transmitted wave
