CAJ | 학술논문

对于微小型无人直升机系统,本文介绍了基于DSP的三维测姿系统的硬件电路设计和四元数解算算法的实现及验证.该系统的硬件部分由角速率陀螺、滤波电路和DSP系统板等组成.角速率陀螺输出信号经过硬件滤波后由AD通道采集,经过数字滤波后,利用四元数算法解算出姿态数据.文中提出了硬件设计和实现及解算算法实现中需要注意的问题和相应的解决方案,测试结果表明该系统是有效的.
대우미소형무인직승궤계통,본문개소료기우DSP적삼유측자계통적경건전로설계화사원수해산산법적실현급험증.해계통적경건부분유각속솔타라、려파전로화DSP계통판등조성.각속솔타라수출신호경과경건려파후유AD통도채집,경과수자려파후,이용사원수산법해산출자태수거.문중제출료경건설계화실현급해산산법실현중수요주의적문제화상응적해결방안,측시결과표명해계통시유효적.
For the miniature unmanned helicopter system, a three-dimension attitude acquisition system based on DSP controller is introduced, including implementation and verification of the hardware circuit and the qua-temion algorithm. The system is constituted of yaw rate gyros, filter circuits and a platform based on DSP.Through the filter circuit, the analog signals from gyros are sampled by AD channels in the platform and smoothed by digital filter, then applied to calculate the attitude data by the quatemion algorithm. The problems and corresponding solutions are stated for the design and implementation process of hardware circuits and algo-rithms. The effectiveness of the system is demonstrated by the experiment results.