【正文】 pocessed the fusion by using ADXL345, L3G4200 and HMC5883 is less than 10%. Keywords: SCM nRF24L01 acceleration sensor Gyroscope Magoresistive sensor 農(nóng)業(yè)機(jī)械車輛的姿態(tài)角監(jiān)測設(shè)計(jì) 目 錄 1 前言 .........................................................................................................................................1 2 系統(tǒng)方案分析與選擇論證 ...................................................................................................1 系統(tǒng)方案設(shè)計(jì) .................................................................................................................. 1 主控芯片方案 .............................................................................................................. 1 無線通信模塊方案 ...................................................................................................... 2 陀螺儀、加速度 計(jì)傳感器方案 .................................................................................. 2 顯示模塊方案 .............................................................................................................. 3 系統(tǒng)最終方案 .................................................................................................................. 4 3 主要芯片介紹和系統(tǒng)模塊硬件設(shè)計(jì) ...................................................................................4 STM32F103VCT6 模塊 .................................................................................................. 4 nRF24L01 無線模塊 ....................................................................................................... 6 無線模塊原理圖 .......................................................................................................... 6 接口電路 .................................................................................................................... 6 寄存器配置 .................................................................................................................. 7 供電電源 ........................................................................................................................ 8 陀螺儀傳感器 .................................................................................................................. 8 L3G4200 三軸陀螺儀 ................................................................................................. 8 陀螺儀電路圖 .............................................................................................................. 8 L3G4200 陀螺 儀工作特點(diǎn) ......................................................................................... 9 加速度計(jì)傳感器 .............................................................................................................. 9 ADXL345 三軸加速度計(jì) ........................................................................................... 9 加速度計(jì)電路圖 ........................................................................................................ 10 ADXL345 工作特點(diǎn) ................................................................................................. 11 磁阻傳感器 ...................................................................................................................... 11 HMC5883 磁阻傳感器 ............................................................................................... 11 HMC5883 電路圖 ........................................................................................................ 11 HMC5883 工作特點(diǎn) ................................................................................................... 11 ATmega16 單片機(jī)模塊 ................................................................................................. 12 農(nóng)業(yè)機(jī)械車輛的姿態(tài)角監(jiān)測設(shè)計(jì) 4 系統(tǒng)軟件設(shè)計(jì) .......................................................................................................................12 單片機(jī)軟件設(shè)計(jì) .............................................................................................................. 12 發(fā)送端流程 .................................................................................................................. 12 中值濾波算法 .............................................................................................................. 13 四元數(shù)算法 .................................................................................................................. 14 kalman 濾波算法 ....................................................................................................... 14 接收端流程 .................................................................................................................. 16 5 硬件電路 ...............................................................................................................................16 硬件制作 ........................................................................................................................ 16 硬件調(diào)試 ........................................................................................................................ 16 硬件調(diào)試結(jié)果 ................................................................................................................ 17 測試數(shù)據(jù) ........................................................................................................................... 17 6 結(jié)論 .....................................................................................................................................20 參考文獻(xiàn) ...................................................................................................................................21 附錄 ...........................................................................................................................................22 致謝 ............................................................................................................ 錯誤 !未定義書簽。伴隨著科學(xué)技術(shù)的發(fā)展，農(nóng)業(yè)科技技術(shù)也隨著科學(xué)技術(shù)的更新也已經(jīng)在全球發(fā)展，進(jìn)而產(chǎn)生了以信息技術(shù)及生物技術(shù)為導(dǎo)向的現(xiàn)代化農(nóng)業(yè)，“精準(zhǔn)農(nóng)業(yè)” 技術(shù)就是現(xiàn)代化農(nóng)業(yè)技術(shù)的代表，是我國農(nóng)業(yè)信息現(xiàn)代化的一個重要的組成部分。本文通過對三軸陀螺儀和三軸加速度計(jì)的數(shù)據(jù)進(jìn)行采集和處理，進(jìn)行四元數(shù)算法的計(jì)算和 kalman 濾波，得到穩(wěn)定的目標(biāo)載體姿態(tài)角的數(shù)據(jù)。 STM32F103VCT6 的外圍電路僅需要外部晶振和少數(shù)電容，內(nèi)部自帶的 SW 接口便于調(diào)試和下載。 方案三：采用宏晶科技有限公司