CN111102973A

CN111102973A - Multi-sensor attitude detection system

Info

Publication number: CN111102973A
Application number: CN201811257541.7A
Authority: CN
Inventors: 游元军
Original assignee: Chengdu 4+2 Lvtu Electronic Commerce Co ltd
Current assignee: Chengdu 4+2 Lvtu Electronic Commerce Co ltd
Priority date: 2018-10-26
Filing date: 2018-10-26
Publication date: 2020-05-05

Abstract

The invention discloses a multi-sensor attitude detection system which comprises a main control unit, a sensing unit and a power management unit, wherein the main control unit is connected to the sensing unit through an I2C bus, and the power management unit is respectively connected with the main control unit and the sensing unit. The system is low in cost, small in size, high in precision and capable of displaying output data in real time. The whole system can not only output stable and accurate attitude angle data in a static state, but also can realize real-time tracking of the attitude angle when the system is in an acceleration or uniform speed state, and has good dynamic response.

Description

Multi-sensor attitude detection system

Technical Field

The invention relates to the field of accurate acquisition of attitude information, in particular to a multi-sensor attitude detection system.

Background

In three-dimensional space, an object may cause a change in its pose once it moves. In some control areas, it is very important to determine the attitude information of an object at a certain moment. The posture detection system utilizes related instruments and equipment to acquire the posture information of the carrier in the motion process and the change trend of the posture in real time. The gesture detection technology plays an important role in some traditional fields as a key technology. In the military field, trajectory modification and accurate guidance of missiles involve measurement of missile attitudes; in the field of aerospace, navigation control of satellites and spacecraft needs to acquire attitude information of the satellites and the spacecraft; in the industrial field, the inclination state of vehicles and ships needs to be acquired by attitude measurement. In recent years, the appearance of new fields such as unmanned aerial vehicles, intelligent wearable devices and virtual reality enables the gesture detection technology to gradually become a hotspot concerned by society. The normal work of equipment such as aerial photography aircraft, intelligent bracelet, VR helmet all leaves the accurate acquisition of attitude information. Meanwhile, the electronic products for civil consumption also put higher demands on various aspects of the attitude detection system, such as mass size, working energy consumption and cost, and the like, and promote the whole system to develop towards the direction of miniaturization, low power consumption and high stability. With the wide application of the gesture detection system in the civil field, the design of the gesture detection system capable of meeting the use requirements in the civil field has important significance. Conventional attitude sensing systems, such as inertial navigation systems, are comprised of bulky mechanical gyroscopes, which are costly and accumulate errors over time. In military affairs, high-precision inertial sensors such as an atomic gyro, an electrostatic gyro and an atomic accelerometer are mostly adopted to measure the attitude of a carrier. These devices, while highly accurate, are expensive to manufacture. Meanwhile, the conventional inertial device can cause drift errors, and the reliability of the whole system can be influenced. A multi-sensor attitude detection system has been developed.

Disclosure of Invention

The present invention is directed to solve the above problems, and provides a multi-sensor attitude detection system, which uses a microprocessor as a control and calculation unit, and determines a multi-sensor combination scheme integrating an inertial measurement unit of a triaxial gyroscope and a triaxial MEMS accelerometer and a triaxial magnetoresistive sensor to obtain information such as angular velocity, acceleration and magnetic field strength of a carrier at a location. The system is low in cost, small in size, high in precision and capable of displaying output data in real time. The whole system can not only output stable and accurate attitude angle data in a static state, but also can realize real-time tracking of the attitude angle when the system is in an acceleration or uniform speed state, and has good dynamic response.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

a multi-sensor attitude detection system comprises a main control unit, a sensing unit and a power management unit, wherein the main control unit is connected to the sensing unit through an I2C bus, and the power management unit is respectively connected with the main control unit and the sensing unit;

further, as a preferred technical solution, the main control unit includes a microprocessor module, and the microprocessor module is provided with an AEM processing chip with an embedded 32-bit kernel;

further, as a preferred technical scheme, the microprocessor adopts a Harvard structure to separate program instruction storage and data storage;

further, as a preferred technical solution, the sensor unit includes an inertial sensor module and an auxiliary sensor module, and the inertial sensor module includes a three-axis accelerometer and a three-axis gyroscope;

further, as a preferred technical solution, the auxiliary sensor module includes a magnetoresistive sensor, where the magnetoresistive sensor is in protocol I2C;

further, as a preferred technical scheme, the main control unit is connected with a serial port to USB module through a USART interface, and the serial port to USB module is connected to an upper computer;

further, as a preferred technical scheme, the main control unit is also connected with an LED display module;

further, as a preferred technical scheme, the main control unit is provided with an SWD debugging interface, and the SWD debugging interface is connected with an SWD debugging module.

The invention has the following beneficial effects:

the invention takes a microprocessor as a control and calculation unit, and simultaneously determines a multi-sensor combination scheme integrating an inertial measurement unit of a three-axis gyroscope, a three-axis MEMS accelerometer and a three-axis magnetoresistive sensor to acquire information such as angular velocity, acceleration and magnetic field intensity of a position where the carrier is located. The system is low in cost, small in size, high in precision and capable of displaying output data in real time. The whole system can not only output stable and accurate attitude angle data in a static state, but also can realize real-time tracking of the attitude angle when the system is in an acceleration or uniform speed state, and has good dynamic response.

Drawings

FIG. 1 is a block diagram of the structure of the present invention.

Detailed Description

The invention is further described with reference to the following figures and specific embodiments.

Example 1

As shown in figure 1, a multisensor gesture detecting system, including main control unit, sensing unit and power management unit, the main control unit pass through I2C bus connection to sensing unit, power management unit connects main control unit and sensing unit respectively, the main control unit include the microprocessor module, the microprocessor module is provided with the AEM processing chip of embedded 32 position kernels, microprocessor adopted the Harvard structure with program instruction storage and data storage separately, the sensor unit include inertia touch sensor module and auxiliary sensor module, the inertia sensor module includes triaxial accelerometer and triaxial gyroscope, auxiliary sensor module include magnetoresistive sensor, the I2C agreement of magnetoresistive sensor department, the main control unit have serial ports through USART interface connection to change the USB module, serial ports change the USB module and be connected to the host computer, the main control unit is further connected with an LED display module, the main control unit is provided with an SWD debugging interface, and the SWD debugging interface is connected with an SWD debugging module.

When the system works, the microprocessor and the sensor are used as core components of the hardware part of the whole system, and the performance of the whole system is influenced. The former is used as a main control unit of the system, and is not only responsible for coordinating the operation of each module in the system, but also for processing the measurement data transmitted by the sensor in time and outputting attitude information. The latter comprises a triaxial MEMS accelerometer, a triaxial MEMS gyroscope and a triaxial magnetoresistive sensor, and is mainly used for acquiring information such as acceleration, angular velocity and magnetic field intensity of a position of a carrier in real time. Therefore, the influence of the performance, size, price, and other relevant parameter indexes on the system needs to be fully considered when selecting the type of the two. The sensor and the microcontroller are communicated with each other through an I2C bus. The microprocessor carries out fusion filtering processing on the received three sensor data according to a data fusion algorithm to obtain accurate attitude information, and then outputs the sensor data and the attitude information through a USART interface. The USB-to-serial port module receives the attitude and the sensor data output by the microprocessor and transmits the attitude and the sensor data to the upper computer for display. In the whole process, the power management module uses the low dropout linear regulator to provide stable working voltage for the sensor and the microprocessor chip. And the SWD debugging module can download related programs into the main control chip, and meanwhile, debugging is convenient. In addition, the LED display module is used for indicating the running state of the whole system and is used with program debugging.

Preferably, the microprocessor module has the main functions of receiving and processing data of each sensor, and realizing interconnection and coordination control among modules in the system. The module needs to be provided with a corresponding interface to receive data of the sensor and send attitude information to the upper computer. In addition to this, the different data fusion algorithms mentioned in chapter iii have different performance requirements on the microcontroller. In particular, the kalman filtering algorithm including a large number of matrix operations puts higher requirements on the microprocessor. Therefore, the microprocessor needs to satisfy the complexity of the algorithm when selecting the type. In addition, the microprocessor is used as one of core components of the whole system, and parameter indexes such as power consumption, price and the like are also required to be considered, so that the microprocessor meets the requirements of the civil consumption field on low cost and low power consumption. In the embodiment, an STM32F103T8U6 microprocessor and an embedded ARM processor chip are selected, the core of the chip is 32-bit Cortex-M3, and a Harvard structure is adopted to separate program instruction storage and data storage. The whole processor adopts a simplified instruction set to improve the operation speed of the processor. . In addition, the chip is provided with abundant on-chip peripherals, and external pins of the peripherals are multiplexed with GPIO (general purpose input/output). When the built-in peripherals such as a Timer (TIM), a USART, an I2C and the like are used, multiplexing of corresponding pins can be realized through setting of an internal register, and therefore normal use of the functional peripherals is achieved. In addition, peripheral pins can be remapped, and the problems encountered in the layout and wiring process of the PCB circuit board are solved. The AMR sensor chip HMC5883L is selected to obtain the magnetic field strength at the carrier location. Although the size of the sensor is only 3.0 multiplied by 0.9mm, the sensor is internally integrated with circuits such as an amplifier, a driving circuit, a 12-bit analog-to-digital conversion circuit and the like, and can meet the requirement of high-precision measurement. The maximum measuring range of the sensor is +/-8 Oe, and the purpose of selecting different measuring ranges can be achieved by setting different gains according to actual application requirements. In addition, the current consumption of the sensor is only 100uA, and the requirement of a system on low power consumption can be met. Meanwhile, the HMC5883L supports the I2C protocol, and can realize data interaction with an STM32 chip. The LED display module adopts a scheme that green and red LEDs with different colors are matched with each other to indicate various states of the whole system during operation and simulation. When the system normally operates, the red LED flickers once to show that the attitude data is completely sent to the upper computer once, and the green LED flickers once to show that the sensor data is completely sent to the upper computer once. When the hardware is debugged, whether the main control chip works normally, whether the output of the power management module is stable, whether the sensor works normally and the like can be judged by observing the bright and dark states of the LED.

The present specification and figures are to be regarded as illustrative rather than restrictive, and it is intended that all such alterations and modifications that fall within the true spirit and scope of the invention, and that all such modifications and variations are included within the scope of the invention as determined by the appended claims without the use of inventive faculty.

Claims

1. The multi-sensor attitude detection system comprises a main control unit, a sensing unit and a power management unit, and is characterized in that the main control unit is connected to the sensing unit through an I2C bus, and the power management unit is respectively connected with the main control unit and the sensing unit.

2. The multi-sensor attitude detection system according to claim 1, wherein said master control unit comprises a microprocessor module, said microprocessor module being provided with an AEM processing chip with an embedded 32-bit kernel.

3. The multi-sensor attitude sensing system of claim 3, wherein said microprocessor employs a harvard architecture to separate program instruction storage from data storage.

4. The multi-sensor attitude sensing system according to claim 1, wherein said sensor unit comprises an inertial sensor module and an auxiliary sensor module, said inertial sensor module comprising a three-axis accelerometer and a three-axis gyroscope.

5. The multi-sensor attitude detection system of claim 4, wherein said auxiliary sensor module includes a magnetoresistive sensor, said magnetoresistive sensor being under the I2C protocol.

6. The multi-sensor attitude detection system according to claim 1, wherein the main control unit is connected with a serial-to-USB module through a USART interface, and the serial-to-USB module is connected to an upper computer.

7. The multi-sensor attitude detection system according to claim 1, wherein the main control unit is further connected with an LED display module.

8. The multi-sensor attitude detection system according to claim 1, wherein the main control unit is provided with an SWD debugging interface, and the SWD debugging interface is connected with an SWD debugging module.