【摘要】 文中将提供一种高精度小型化9轴姿态参考系统的实现方案,采用高性能运动传感器ICM42688和地磁传感器PNI13156高速采样获取9轴数据,再通过STM32G474单片机使用扩展卡尔曼滤波算法对数据进行姿态解算,再通过串口通信将姿态信息上传到上位机,在QT平台中开发的界面中动态显示姿态角信息与3D物体姿态,实现高精度小型姿态参考系统,以供集成化应用。更多还原

【Abstract】 In this paper, an implementation scheme of a miniaturized 9-axis AHRS system is proposed. It uses high-performance motion sensor ICM42688 and geomagnetic sensor PNI13156 to acquire 9-axis data at high speed, then STM32 G474 microcontroller is used to calculate the attitude by extending Kalman filter algorithm. Next, the attitude information is updated to the upper computer through serial communication, and dynamically displays the attitude angle information and 3 D object attitude in the interface developed in QT platform, then a high-precision small attitude reference system is realized, which has high practical value.更多还原