Design And Research Of Attitude Measurement System Based On The Data Fusion With Multi-sensors

The information of attitude angle is important in the real-time control system of robots. And it can also be the key parameter in controller's design of robots. The stability of robot's controlling is determined by the accuracy and precision of attitude angle. Besides used in the control system of robots,the attitude measurement system is also gradually been applied to the smart-devices. Because of the low precision and the bad fault-tolerant, the single sensor cannot satisfy the requirement of all-attitude work. So a kind of attitude measurement system with multi-sensors based on the data fusion is designed in this paper. The system can provide attitude angle with higher accuracy by analyzing the information from every sensor in the system.The type-Selection of controller and sensors based on the structure of the attitude measurement system was done at first.The key in the design of attitude measurement system is the attitude algorithm of the original information from different sensors and the data-fusion algorithm based on the attitude. Some methods, such as Euler angle algorithm, direction cosine algorithm and Quaternion algorithm, used for the attitude algorithm are proposed. And in the end, the Quaternion algorithm is chosen as the attitude algorithm in this paper. The differential equations based on the Quaternion is proposed, and the he fourth order Ronge-Kutta method is chosen as the solution method of the different equations.Based on the solution of attitude algorithm, some kind of data-fusion methods are proposed in this paper. There are many kinds of sensors included in the attitude measurement designed in this paper. And the data provided by the sensors is complex. Because of these characteristics, the Kalman filtering method is selected as the data-fusion method of this system. In the end, data-fusion of gyroscope and accelerometer and the data-fusion of gyroscope and magnetometer are designed in this paper.At last, the physical model of the attitude measurement system is made based on the Mpu6050 and the data-fusion method designed before. In order to test the precision, an experiment platform with three degrees of freedom and its control system are designed in this paper. And a PC interface is designed to control the test platform and to monitor and analysis the data from the attitude measurement system. An experiment is designed to test the precision of the attitude measurement.