基于MPU6050的四轴硬件姿态解算研究

摘要

Aimimg at the real-time accurate acquisition of attitude information of four-axis aircraft,experimental study on the attitude calcula-tion was carried out on the four-axis aircraft. On the basis of analyzing the quaternion method and Euler angle method of attitude representa-tion,Mahony complementary filtering algorithm was taken as an example to compare the process of the software attitude calculation and hard-ware attitude calculation based on MPU6050 digital motion processor(DMP), and the calculation time of the two methods and the tracking performance of the attitude change were experimentally tested. The research indicate that small four-axis aircraft of the attitude information can be obtained in real time and accurately by the hardware attitude calculation,so that the small four-axis aircraft attitude control require-ments can be met.%针对四轴飞行器姿态信息的实时准确获取问题,对四轴飞行器的姿态解算方面进行了研究.在分析姿态表示的四元数法和欧拉角法基础上,以成熟的Mahony互补滤波算法为例比较了软件姿态解算和基于MPU6050数字运动处理器(DMP)的硬件姿态解算的实现流程,并对两种解算方法的解算时间和对姿态变化的跟踪性能进行了实验测试.研究结果表明:硬件姿态解算能实时准确地获取小型四轴飞行器的各项姿态信息,可以满足小型四轴飞行器的姿态控制要求.