河南科技大学学报：自然科学版

设计了基于MPU9250多轴姿态传感器和MSP430F149单片机的姿态检测系统。利用传感器内部的陀螺仪、加速度计和电子罗盘,可以对3个轴的角速度、加速度、磁感应强度进行测量,进而解算成角度姿态。利用优化的卡尔曼滤波算法对解算的姿态角度进行了融合处理,融合后的数据有效地抑制了噪声,提高了角度姿态检测的准确性。设计的姿态检测系统每秒钟可以完成100次姿态检测与计算,具有体积小、响应快等特点,并应用于自平衡小车的姿态检测。

An attitude detection system was designed with MPU9250 and MSP430F149 in this paper. The angular rate,acceleration and magnetic flux density were measured by the gyroscope,the accelerometer and the magnetometer which were integrated in the sensor. Then the gesture angle was calculated with the data of the sensor. The data fusion was also discussed. The Kalman filter algorithm was optimized to estimate the gesture angle decided by the sensor. The measurement noise was restrained and the accuracy was improved with this algorithm. The attitude detection can be done about 100 times in a second. The system is small and quick to respond,and applied to self-balancing vehicle system.