基于 Cortex-M 4的三轴姿态系统设计*

摘要

In the practical application of control areas ,space attitudes of the objects in three‐dimensional are needed to consider .In order to capture the perspective of the object ,the angular velocity information ,the paper designed and imple‐mented a three‐axis attitude system based on the Cortex‐M4 .High‐performance Cortex‐M4 processor integration tilt sensors , gyroscopes and electronic compass ,polynomial fitting algorithm and Kalman filter algorithm are used for filtering the signal collected through the use of recursive least squares ,thereby improving overall system control precision .The paper intro‐duced the composition and method of system hardware and software design in detail ,combined with an embedded real‐time operating system to ensure the reliability ,timeliness and stability of the system .%在控制领域实际运用中，经常需要考虑物体在三维空间的姿态信息。为了采集物体的角度、角速度信息，论文设计并实现了一种基于Cortex‐M4的三轴姿态系统。使用高性能Cortex‐M4处理器融合倾角传感器、陀螺仪及电子罗盘，通过采用递推最小二乘多项式拟合算法和卡尔曼滤波算法对采集到的信号进行滤波，从而提高整个系统控制精度。论文详细介绍了系统的组成及软硬件设计方法，结合嵌入式实时操作系统，保证了系统的可靠性、实时性和稳定性。