[1]何松,陈兴武.基于MPU9250的无人机姿态信息采集及处理[J].福建工程学院学报,2016,14(06):587-592.[doi:10.3969/j.issn.1672-4348.2016.06.015]
 He Song,Chen Xingwu.MPU9250-based UAV attitude information acquisition and processing[J].Journal of FuJian University of Technology,2016,14(06):587-592.[doi:10.3969/j.issn.1672-4348.2016.06.015]
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基于MPU9250的无人机姿态信息采集及处理()
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《福建工程学院学报》[ISSN:2097-3853/CN:35-1351/Z]

卷:
第14卷
期数:
2016年06期
页码:
587-592
栏目:
出版日期:
2016-12-25

文章信息/Info

Title:
MPU9250-based UAV attitude information acquisition and processing
作者:
何松 陈兴武
福建省数字化装备重点实验室
Author(s):
He Song Chen Xingwu
Fujian Provincial Key Laboratory of Digital Equipment
关键词:
姿态控制 信息处理 卡尔曼滤波 无人机
Keywords:
attitude control information processing Kalman filter unmanned vehicle(UAV)
分类号:
V249.1
DOI:
10.3969/j.issn.1672-4348.2016.06.015
文献标志码:
A
摘要:
研究MPU9250多轴姿态传感器在无人机上的姿态信息采集,通过对九轴传感器内的陀螺仪,重力加速度计,磁力计的数据接收后,结合卡尔曼滤波算法对其数据进行精准的解算;搭建了一个无人机姿态模拟的物理实验平台,进行无人机运动状态下的信息采集;最后,在MATLAB的数据仿真下测试其性能。实验结果表明该方法可使无人机信息采集的精准度提升一倍。
Abstract:
The attitude information acquisition of MPU9250-based UAV was researched via nine axis gyroscope sensor, gravity accelerometer and magnetometer. Kalman filtering algorithm was employed to obtain the accurate data. A physical experimental platform was constructed for UAV attitude simulated information acquisition of UAV motion. The performance data of the UAV altitude information acquisition was tested in MATLAB simulation. The experimental results show that the method can improve the precision of the UAV information acquisition by about two times.

参考文献/References:

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更新日期/Last Update: 2016-12-25