Method and device for measuring attitude dip angle of moving carrier based on floating point type DSP (digital signal processor)

Abstract

The invention discloses a method and a device for measuring an attitude dip angle of a moving carrier based on a floating point type DSP (digital signal processor). The method comprises the following steps: an IMU (inertial measurement unit) module is arranged on a tested moving carrier, the DSP obtains three types of attitude angle information through real-time collection, analysis and processing, and a virtual oscilloscope is used for recording, displaying and storing dynamic waveforms; the device comprises an IMU, a power supply circuit, a floating point type DSP circuit, an SCI-to-USB (serial communications interface to universal serial bus)communication circuit and an upper computer, wherein the IMU comprises a gyroscope and gyroscope processing circuit and an accelerator and accelerator processing circuit; the gyroscope and gyroscope processing circuit comprise a gyroscope, an ADC (analog-to-digital conversion) circuit, a digital filtering circuit and an IIC interface circuit with FIFO (first in, first out) that are connected with one another in sequence; and the accelerator and accelerator processing circuit comprise an accelerator, an ADC circuit, a digital filtering circuit and an IIC interface circuit with FIFO that are connected with one another in sequence. The method and the device provided by the invention have the advantages that the tracking effect on the dynamic attitude dip angle is good, the real-time performance is high, the accuracy is high, the representation scope is wide, and the data processing efficiency is high.

Description

technical field [0001] The invention relates to a carrier attitude inclination measurement technology, in particular to a method and device for measuring a moving carrier attitude inclination based on a floating-point DSP. Background technique [0002] Attitude and inclination measurement technology is used in many fields, such as robots, smart cars, aircraft model control, game equipment, personal navigation equipment, image stabilization systems, etc. Static attitude and inclination measurement is relatively easy and the measurement effect is relatively satisfactory, but dynamic attitude and inclination measurement, especially when the dynamic effect of the device under test is relatively strong, its measurement technology and measurement effect are not satisfactory. [0003] At present, high-precision gyroscopes, including liquid floating gyroscopes, fiber optic gyroscopes, or laser gyroscopes, are mainly used for measuring the attitude and inclination angle of moving car...

AI Technical Summary

Problems solved by technology

The gyroscope has high agility and fast dynamic response when tracking the attitude angle of the carrier in a dynamic environment, but its own congenital mechanical noise will inevitably produce measurement errors, and as time goes by, the cumulative error will become more and more getting bigger and bigger, eventually causing measurement deviation

Using the gyro sensor alone to measure the dynamic inclination of the moving carrier, the results are not satisfactory

[0008] In addition, considering the selection of the processor hardware platform, general single-chip or fixed-point processors have low program execution efficiency when performing a large number of floating-point operations and sine-cosine operations, and the execution cycle for complex algorithms is long, which cannot meet the needs of motion carriers in strong dynamic environments. Real-time tracking of attitude angles with less accuracy and range of dynamic representation

Images