基于无线射频技术的移动机器人姿态解算调试系统设计

摘要

利用上位机调节用于姿态解算的滤波器参数对移动机器人姿态测量有着十分重要的意义。针对有线传输方式会对机器人行动造成干扰的问题，提出了一种基于无线射频技术的移动机器人姿态解算调试系统。系统选择STM32微处理器作为控制核心，利用MEMS陀螺仪和加速度计采集机体姿态信息，解算机器人最优估计姿态角。通过以nRF24L01为核心的无线通信模块，实现姿态采集模块和上位机应用平台的无线数据通讯。经过实验结果表明，提出的基于无线射频技术的移动机器人姿态解算调试系统具有较好的可靠性和实时性，便于移动机器人系统的调试，有一定的工程应用价值。%It is important to use PC control to regulate the filter parameters used in attitude algorithm for measuring mobile robot atti￣tude. For eliminating the interference of the robot operation caused by the cable transmission, a mobile robot attitude algorithm de￣bugging system based on radio frequency technology is proposed. STM32 microprocessor is adopted as core processor in this sys￣tem and MEMS gyroscope and accelerometer are used to col ect the body posture information. The communication module with nRF24L01 is used as the core for the wireless data communication between the attitude acquisition module and the upper computer. The experimental result shows that the mobile robot attitude algorithm debugging system based on the radio frequency thchnology,has good reliability and real-time performance,and it is advantageous to the mobile robot system debugging and shows the certain engineering application value.