基于多传感器数据融合的姿态控制与应用

刘明亮; 崔宇佳; 张一迪; 林海静; 陆起涌

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基于多传感器数据融合的姿态控制与应用

更新时间：2026-09-04

- 基于多传感器数据融合的姿态控制与应用
- Attitude Control and Application Based on Multi-Sensor Data Fusion
- 微电子学与计算机 2017年34卷第7期页码：65-69
- 作者机构：
  
  1. 复旦大学电子工程系,上海,200433
  2. 复旦大学信息科学与工程学院智慧网络与系统研究中心,上海,200433
- 作者简介：
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- 纸质出版：2017
- 稿件说明：
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刘明亮, 崔宇佳, 张一迪, 林海静, 陆起涌. 基于多传感器数据融合的姿态控制与应用[J]. 微电子学与计算机, 2017, 34(7): 65-69.

LIU Ming-liang, CUI Yu-jia, ZHANG Yi-di, et al. Attitude Control and Application Based on Multi-Sensor Data Fusion[J]. 2017, 34(7): 65-69.
刘明亮, 崔宇佳, 张一迪, 林海静, 陆起涌. 基于多传感器数据融合的姿态控制与应用[J]. 微电子学与计算机, 2017, 34(7): 65-69. DOI：

LIU Ming-liang, CUI Yu-jia, ZHANG Yi-di, et al. Attitude Control and Application Based on Multi-Sensor Data Fusion[J]. 2017, 34(7): 65-69. DOI：

摘要

设计了利用MPU9250九轴姿态传感器和STM32F103获取、处理姿态数据的智能吸尘器系统.考虑到在实际应用中嵌入式系统对实时性以及姿态检测准确性的要求

提出了一种算法——利用加速度、陀螺仪数据分别更新四元数并通过互补滤波算法进行融合

然后利用阈值中值滤波后的磁力计数据修正航向角

实现了系统对传感器数据的融合以及对载体姿态的估计.将算法应用于智能吸尘器平台

利用上述算法处理的数据进行姿态控制

通过仿真和实验证明了算法的可行性和有效性

实现了智能吸尘器姿态的准确控制.在姿态控制的基础上进行路径规划

可以提高智能吸尘器在室内清洁区域的覆盖率.

Abstract

An intelligent vacuum cleaner system using MPU9250 nine-axis attitude sensor and STM32F103 which acquire and process the attitude data is designed.Aiming at the real-time requirement of embedded system and the necessity of accurate attitude detection in practical application

an algorithm is proposed – using the accelerometer and gyroscope to update quaternion respectively

and using the fast complementary filter to fuse the data.And then

the heading angle is corrected by the magnetic flux density which is processed by median filter based on the threshold value.Therefore

the system fuses data of sensors and estimates the attitude.To verify the feasibility and effectiveness of the algorithm

we applied it to the intelligent vacuum cleaner platform.The experimental results demonstrate that the intelligent vacuum cleaner using proposed algorithm realizes the accurate attitude control and can accurately select path.And path planning based on the attitude control can improve coverage of the indoor cleaning area for intelligent vacuum cleaner.

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references

Wu J, Zhou Z, Chen J, et al. Fast complementary filter for attitude estimation using low-cost MARG sensors[J]. IEEE Sensors Journal, 2016, 16 (18): 6996-7007. DOI: 6996

Peng Mi, Du Qingxiu, Ye Longmao, et al. An adaptive fast quaternio-based human motion tracking algorithm with inertial/magnetic technology[C]//IEEE10th International Conference on Signal Processing: IEEE, 2010: 1252-1258.

ZHOU Y, ZHANG H, ZHANG TAO, et al. A fusion attitude determination method based on qua-ternion for MEMS gyro/accelerometer/magnetometer[C]//2013 25th Chinese Control and Decision Conference. IEEE, 2013: 3228-3232.

刘火良, 杨森. STM32库开发实战指南[M]. 北京: 机械工业出版社, 2013.

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Guoyu Zuo, Kai Wang. Multi-sensor fusion method using MARG for a fixedwing unmanned aerial vehicle[C]//IEEE International Conference on Mechatronics and Automation. IEEE, 2012: 664-669.

Song Q, Feng J, ZHANG X, et al. Obtaining the real time yaw angle using electronic compass in quadrotor systems[C]//2012International Conference on System Science and Engineering (ICSSE). IEEE, 2012: 238-242.

柴卫华, 侯芸. 捷联惯导系统姿态算法研究[J]. 现代防御技术, 2001, 29 (4): 42-45. DOI: 42

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