陀螺仪辅助电磁定位系统的研究

发布时间：2018-01-18 06:06

本文关键词：陀螺仪辅助电磁定位系统的研究　出处：《北方工业大学》2017年硕士论文　论文类型：学位论文

更多相关文章： 电磁定位 四元数 方位解算 MPU6050

【摘要】：随着社会科技的不断发展和进步,电磁定位技术得到了越来越广泛的应用,在虚拟现实、运动、医疗等领域具有广阔的市场前景。本文起先介绍了目前国内外电磁定位技术的研究现状和应用前景,并简要说明了现阶段电磁定位技术的特点和不足。然后介绍了电磁定位技术的工作原理并给出了利用四元数进行目标方位解算的详细推导过程。针对电磁定位系统随着距离变大定位结果不够准确的情况,本文设计利用MPU6050(3轴陀螺仪和3轴加速度计)辅助电磁系统进行目标方位解算。系统中利用加速度计测得的加速度,积分后得到目标位移,并与电磁系统测得的位置信息进行融合,得到目标的位置信息;利用MPU6050内置数字运动处理器DMP输出姿态信息,并与电磁系统测得的目标姿态信息进行融合,得到目标的姿态信息。本文采用MATLAB对设计的融合算法进行了仿真,并给出了仿真结果。最后,搭建了硬件平台,进行了系统的设计与实现。仿真结果与系统实测结果表明,陀螺仪辅助电磁定位技术比电磁定位技术定位效果有较大提升。0.9m内位置精度提高500%左右,姿态误差降低至0.02rad以内。
[Abstract]:With the continuous development and progress of social science and technology, electromagnetic positioning technology has been more and more widely used in virtual reality, movement. Medical and other fields have a broad market prospects. This paper first introduced the current domestic and foreign electromagnetic positioning technology research status and application prospects. The characteristics and shortcomings of electromagnetic positioning technology at present are briefly explained. Then the working principle of electromagnetic positioning technology is introduced and the detailed derivation process of target azimuth calculation using quaternion is given. The result of positioning is not accurate with the increase of distance. In this paper, MPU6050(3 axis gyroscopes and 3-axis accelerometers) are designed to assist the electromagnetic system to calculate the target azimuth. The acceleration measured by the accelerometer is used in the system to get the target displacement after integration. The position information of the target is obtained by fusion with the position information measured by the electromagnetic system. The attitude information is outputted by MPU6050 digital motion processor (DMP) and fused with the target attitude information measured by electromagnetic system. The attitude information of the target is obtained. In this paper, the fusion algorithm is simulated by MATLAB, and the simulation results are given. Finally, the hardware platform is built. The design and implementation of the system are carried out. The simulation results and the measured results of the system show that. Compared with electromagnetic positioning technique, the precision of gyroscope assisted electromagnetic positioning is improved by 500%, and the attitude error is reduced to less than 0.02 rad.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：O441;TN96

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