基于STM32的四旋翼飞行器姿态测量系统设计

摘要

With the development of unmanned aerial vehicles, four-rotor aircraft attracts more and more researchers' attention. This paper presents a rotor aircraft attitude measurement system design based on the STM32. The attitude mea-surement platform based on STM32 is a data acquisition and attitude calculation platform. In this paper, the system on the STM32 transplants themC / OS-Ⅲ operating system, which gathers acceleration, angular velocity, and data from other sensors, and uses quaternion algorithm, Kalman filtering to achieve attitude measurement data. At last, this platform trans-ports attitude measurement data to PC soft through the wireless module. With wireless receiver module, PC soft can display attitude acquisition. Finally, through a comprehensive experiment on this platform, it has verified the platform's feasibility and effectiveness, which can get the effective attitude measurement data in time.%随着无人飞行器的发展，四旋翼飞行器逐渐受到更多研究者的关注。本文主要提出了一种基于STM32的姿态测量系统设计方案。该姿态测量平台是采用STM32为主控制器的数据采集和计算姿态平台。在本文中，整个系统在STM32上移植μC/OS-Ⅲ操作系统，实现对加速度、角速度、磁阻数据等的采集，采用四元数计算、卡尔曼滤波等实现姿态数据测量，通过无线模块实现数据流的传送。通过无线接收模块，PC端上位机实现姿态获取展示。最后，通过对建立的实验平台的综合实验，验证了本文系统的可行性和有效性，能够实时采集有效的姿态数据。