基于GMR传感器校正的智能轮椅控制系统设计

摘要

In order to solve the problem of the control precision of the intelligent wheelchair,a head pose control system based on the giant magnetoresistance(GMR)sensor calibration and fusion is designed. The system uses STM32F103 as the hardware platform,using the four element method to describe the attitude information,attitude is calculated by output angular of three axis gyro.Because the drift error of the gyro is accumulated with time,the optimal convergence step is calculated by the gradient descent method,and the error of the gyro drift is corrected by successive iteration.The experimental results show that the sensor calibration process is correct and effective, and the drift error is reduced. The control system can accurately control the movement of the intelligent wheelchair.%为解决头部姿态智能轮椅控制精度问题,设计了一种基于巨磁阻(GMR)传感器校正与融合的头部姿态控制系统.系统以STM32F103为硬件平台,采用四元素法描述姿态信息,通过三轴陀螺仪输出角度解算姿态.由于陀螺仪漂移误差随时间积累,利用梯度下降法动态计算最优收敛步长,逐次迭代修正陀螺漂移误差.实验结果表明:传感器校准过程正确有效、校正后漂移误差减小,控制系统能精准控制智能轮椅运动.