Design Of Digital Filter And Obliquity Angle Sensor Based On Embedded System

During the research of bicycle robot, it was found that the scaling problem of the robot obliquity angle was very difficult. Because of the output signal of the sensor was mixed with a lot of noise signal especially in the dynamical scaling system. To deal with that problem, three kind of resolve drafts were presented both from the attitude of signal filter design and from the attitude of obliquity angle sensor design.Firstly, this paper briefly introduced the related theories about embedded platform, digital filter and angle sensor. Based on analyzing a lot of experiment data, a kind of mean digital filter was designed. Additionally, both a kind of sliding mean digital filter and a kind of weighted sliding mean digital filter were designed to process the output signal of the obliquity angle sensor. And the experiment result of the three kinds of digital filter was presented. Their benefits and shortcomings were analyzed and argued based on comparing their characters. Those efforts would do well to the digital filter selection for the obliquity angle sensor.Based on the investigation analysis of lot kinds of obliquity angle sensor, it was found that most of them can not satisfy the requirement of dynamic measure. And the reasons of their unfitness were given too. Then, two kinds of obliquity angle sensor were designed to meet the demand of dynamic system measure. Firstly, a kind of obliquity angle sensor was designed based on ADXRS150 rate gyro microchip. And the experiments to test it were being carried through. Then the effect of the novel sensor was testified by experiments. Secondly, another kind of obliquity angle sensor was designed based on both pendulum principle and liquid damping principle. Because of the liquid damping principle, the sensor noise was reduced prominently. And three kinds of signal sensor means were presented for the sensor. A kind of measurement was presented based on the variation of the electric field principle. Another kind of measurement was presented based on the variation of the magnetic field principle. The third kind of measurement was given based on geometry optics principle. And those three kinds of interface circuits were designed to output the sensor signal. Their benefits and shortcomings were argued respectively. A real sensor was realized based on the variation of the magnetic field principle to testify its efficiency.