摘要
为了提高AGV的姿态解算、定位和导航控制精度,减小导航器件的体积和功耗,设计了一种以STM32F767IGT6为主控制器、MPU9250为姿态传感器模块的AGV姿态解算系统。在姿态解算部分,MPU9250读取内部九轴传感器的实时数据,通过内部自带的数字运动处理DMP引擎进行姿态融合解算,通过集成电路IIC总线接口和主控芯片STM32F767IGT6进行数据交互,传输速率可达400 kHz/s,具有良好的动态响应特性。实验结果表明,基于STM32F767和MPU9250的AGV姿态解算系统能较好地跟踪AGV的姿态,反应灵敏迅速、实时性强、解算精度高,能够为AGV定位与导航提供准确的姿态信息。
In order to improve the attitude calculation,positioning and navigation control accuracy of AGV and reduce the volume and power consumption of navigation devices,an AGV attitude calculation system was designed with STM32F767IGT6 as the controller and MPU9250 as the attitude sensor module.In the attitude calculation part,MPU9250 reads the real-time data of the internal nine-axis sensor,and calculates the attitude fusion through the internal digital motion processing DMP engine. Finally,data interaction is carried out through the integrated circuit IIC bus interface and the main control chip STM32F767IGT6,with the transmission rate up to 400 kHz/s.It has good dynamic response characteristics.The experimental results show that the AGV attitude solution system based on STM32F767IGT6 and MPU9250 can better track the attitude of AGV,and provide accurate attitude information for the positioning and navigation of AGV.
作者
陈世强
刘明
CHEN Shiqiang;LIU Ming(Yunnan Minzu University,Kunming 650500,China)
出处
《电子设计工程》
2023年第5期70-74,79,共6页
Electronic Design Engineering
