摘要基于MEMS微机电技术的惯性传感器随着科技的发展得到了很大的进步。本文一种基于MEMS技术的动态倾角测量系统，该系统可以有效减少倾角测量工程中的误差。通过对微型传感器工作原理和特性的学习，研究了一种由加速度计和陀螺仪为主要器件的动态倾角测量系统。首先利用相关知识完成系统的硬件设计，并对硬件的稳定性和可靠性修正。其次采用最小二乘法对加速度传感器测量的数据进行补偿来减少误差，对陀螺仪系统采取卡尔曼滤波方法进行姿态融合。实际测试结果表明，在动态情况下该系统加入了动态补偿算法后，系统的测量精度得到提高，传感器的误差能有效的得到抑制，系统最大误差不超过1度。34070
关键词 MEMS 加速度计 陀螺仪 姿态检测 卡尔曼滤波
毕业论文设计说明书外文摘要
Title The Dynamic Tilt Sensor Hardware Design Based on Accelerometer And Gyroscope
Abstract
Along with the progress of the technology, the inertial sensor based on the MEMS technology has been developed. This paper introduces a dynamic angle measurement system based on MEMS technology. The system can effectively reduce the error of angle measurement in Engineering. A main device of dynamic angle measurement system with accelerometer and gyroscope was studied through the research of micro sensor working principle and characteristics of investigation. First, the hardware design of the system is accomplished by using the related knowledge, and the stability and reliability of the hardware are corrected. Secondly, the least square method of acceleration sensor data compensation to reduce the error, the gyroscope system adopt method of Kalman filter for attitude fusion. The actual test results show that in the dynamic case the system joined the dynamic compensation algorithm, the measurement accuracy of the system is improved, the error of the sensor can effectively inhibit, the maximum error does not exceed 1 degree Celsius.
Keywords MEMS Accelerometer Gyroscope Attitude compensation Kalman filtering
目 次
1 绪论 1
1.1 课题研究背景和意义 1
1.2 国内外研究概况和发展综述 1
1.3 本人工作 2
1.4 章节安排 2
2 惯性传感器工作原理及误差分析 4
2.1 加速度计工作原理及误差分析 4
2.2 陀螺仪工作原理及误差分析 5
3 系统硬件设计 7
3.1 系统硬件开发环境 7
3.2 系统硬件总体结构 7
3.3 单片机最小系统 8
3.4 加速度计模块 12
3.5 陀螺仪模块 13
3.6 IIC总线协议 14
3.7 数据输出 15
3.8 外围电路设计 16
3.9 硬件设计总结 16
4 软件设计 18
4.1 系统软件开发环境 18
4.2 软件设计流程 18
4.3 三轴加速度计的软件设计 19
4.4 三轴陀螺仪软件设计 22
4.5 加速度计与陀螺仪数据融合 23
5 实验数据分析 27
结 论 29
致 谢 30 基于MEMS加速度计和陀螺仪的动态倾角传感器硬件设计:http://www.751com.cn/zidonghua/lunwen_31448.html