磁导航中的磁检测传感器设计及实现

摘要

To improve the tracking accuracy of magnetic navigation for mobile robots,a magnetic detection sensor based on HMC1022 magnetoresistive chip was designed.In the designed sensor,the STC15F2K60S2 microcontroller was taken as the core, the IRF7105 switch tube was used to set or reset the sensor,the biasing circuit was designed to eliminate the influence of interfer-ence magnetic field,and the LMC6482AIM chip was used to amplify and filter the detection signal.The experimental results show that the designed sensor can effectively and accurately measure the magnetic field of the magnetic belt,and help mobile robots to achieve accurate autonomous navigation.Compared with the existing Hall sensor,the tracking error based on the designed sensor is reduced by fifty percent,which further verifies the validity of the designed sensor.%为了提高移动机器人磁导航的跟踪精度,设计了一种基于HMC1022磁阻芯片的磁检测传感器.该传感器以STC15F2K60S2单片机为核心,利用IRF7105开关管实现对传感器的置位或复位;利用偏置电路消除干扰磁场的影响;利用LMC6482AIM芯片实现对信号的放大滤波.实验测试结果表明:该传感器不仅能够有效、准确地测量磁带的磁场大小,而且能帮助移动机器人实现精确地自主导航.与现有的霍尔传感器相比,其跟踪误差平均减小50%,从而进一步验证了所设计传感器的有效性.