摘要本文设计了一个基于MPU6050（内部集成三轴加速度计，三轴陀螺仪）为测量单元，ARM微处理器LPC1114为姿态解算核心的载体姿态检测系统。具体实现的方法为LPC1114单片机通过I2C接口采集MPU6050的测量数据（包括三轴加速度和三轴角速度）；对数据进行预处理后，利用欧拉法及四元数法解算载体姿态；由于单独使用陀螺仪解算姿态时角速度长时间积分会产生累计误差，单独使用加速度计解算姿态的动态响应较差，并且伴随高频噪声，所以本文进一步研究了利用卡尔曼滤波和互补滤波对三轴加速度和三轴角速度数据进行数据融合，消除测量中的高频噪声（加速度计引起）和数据漂移（陀螺仪引起），减小姿态角计算误差；同时为了能够将设计的姿态检测系统模块化，我们采用了无线数据传输模块，从而实现单片机与PC之间姿态角数据的无线传输，提高了系统的实用性。76814

本文最后利用上位机和MATLAB对系统进行了测试和数据分析，包括原始数据的分析，姿态解算方法优劣性对比以及各种滤波方法的效果对比，加入滤波器进行数据融合解算出的结果明显优于直接用加速度计或陀螺仪直接解算的结果。最后，本文对两种姿态解算方法的测量范围和测量精度进行了测试，其中，基于互补滤波的四元数姿态解算俯仰角测量范围为，横滚角测量范围为，接近理想范围。静态测量时姿态角的误差在。

毕业论文关键词：载体姿态检测 欧拉角 四元数 卡尔曼滤波 互补滤波 

毕业设计说明书外文摘要

Title  Carrier Attitude Detection based on the ARM Microcontroller                             

Abstract This topic is to research the attitude detection problem from the LCD panel to the general carrier。 In this paper, we designed a carrier attitude detection system based on a three-axis gyroscope and a three-axis accelerometer for measurement, ARM microcontroller LPC1114 as the core of the attitude solution。 

The concrete method is: LPC1114 microcontroller collects the data of three-axis gyroscope and three- axis accelerometer through the I2C interface; then we use the Euler method and Quaternion method for attitude detection; because only using  angular velocity for attitude detection will produce integral accumulative error, only using acceleration has poor dynamic response, so to improve the attitude detection accuracy, this paper further studies the data fusion of the measurement data using Kalman Filter and Complementary Filter to estimate and correct the noise and drift in the measurement; at the same time in order to modularize the designed attitude detection system, we introduce the wireless data transmission  module, so as to realize the wireless transmission between SCM and PC and  improve the practicality of the system。

Finally, we use the upper monitor and MATLAB to test the system and analyze the data, including the analysis of the original data, the comparison of different attitude detection methods and the effect of filtering method。 Obviously the results of the attitude detection that adds filter methods for data fusion is superior。 Then we calculate the measurement range and accuracy of two attitude detection methods, wherein, for the Quaternion method for attitude detection based on the Complementary Filter, the measurement range of pitch angle is , roll angle is 。The error of attitude angle in static measurement is 。

Keywords：carrier attitude detection , euler method, quaternion, Kalman filter,           Complementary filter 

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1。1 项目背景