便携式方位与姿态检测系统

摘要

基于MSP430和OMAP3530平台,实现了便携式方位与姿态检测系统.系统前端由三轴磁强计、三轴加速度计、三轴陀螺仪和MSP430组成.MSP430负责接收和校准传感器数据,并通过串口发送给OMAP3530 EVM.OMAP3530对接收数据进行卡尔曼滤波,并利用OMAP3530强大的3D硬件加速功能,通过触摸屏进行方位与姿态信息的三维人机交互显示.测试实验结果表明,该系统性能稳定,定位精度高,三轴陀螺仪和卡尔曼滤波算法的引入提高了系统的精度和抗干扰性能.%Based on MSP430 and OMAP3530 platforms, the paper designs a portable attitude detection system. The front-end of the system consists of a three-axis magnetometer, a three-axis accelerometer, a three-axis gyroscope and an MSP430 MCU. The role of MSP430 is to receive and calibrate sensor data, and send the data to the OMAP3530 EVM through the serial port. Then, OMAP3530 conducts the Kalman filter algorithm on the received data. With the powerful three-dimensional hardware acceleration function of OMAP3530, attitude information is displayed through the touch screen using three-dimensional software interface. Experiment results show good stability and high accuracy of the demo system, and they also demonstrate that the introduction of three-axis gyroscope and Kalman filter algorithm can improve the accuracy and robustness of the system.