车辆姿态信息检测--毕业设计.pdf

摘要 摘要 车辆姿态是控制车辆的重要参数。随着微处理器和新型传感器的发展，利用微机械惯性传感器 和微处理器构成的车辆姿态检测系统的技术逐渐实现了系统的高精度、高可靠性和低成本。 本文介绍了一种利用电子罗盘N-GY26 以及Freescale 公司生产的电子陀螺仪ENC-03 和电子加 速度计MMA7361LC 以及16 位微处理器MC9SXS128MAA 构成的车辆姿态检测系统。在保证系统 低成本、体积小的前提下实现了对车辆姿态高精度的测量。 本文详细的介绍了系统的软硬件实现方法，对传感器采集到的数据进行简单的数字滤波处理， 利用卡尔曼滤波器融合加速度计和陀螺仪的数据实现倾角测量，利用电子罗盘实现方向角的测量， 并使系统具有初始水平校准的功能。最后通过无线串口把姿态信息传送到LABVIEW 制作的上位机 监视软件实时显示。 关键词：车辆姿态检测；卡尔曼滤波器；飞思卡尔；加速度传感器；电子陀螺仪； I Abstract Abstract The data about vehicle attitude are significant parameters for vehicle control. With the development of microprocessor and novel sensor, the technology of use micromachined inertial sensors and micro -processors to constitute a vehicle attitude detection system gradually achieve the systems high-precision,high reliability and low cost. This thesis describes a vehicle attitude detection system which constituted by electronic compass N-GY26 and Fresscales production of electronic gyroscope ENC-03, electronic accelerometer MMA7361LC, 16 microprocessors MC9SXS128MAA. This system achieve high-precision measurement with ensuring low cost and small size of system. This paper introduce a detailed description of system hardware and software. It process the data sensor collected by a simple digital filter, use Kalman filter integrate data from gyroscope and accelerometer to measure the angle of inclination, use electronic compass to achieve the measurement of direction angel, and system have the function of initial horizontal alignment as well. Transmit the attitude information through the wireless serial to computer monitoring software made by LABVIEW for R