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一种基于DSP的轴角测量系统设计.docx

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一种基于DSP的轴角测量系统设计 Abstract: Theaxis-anglemeasurementsystemplaysanimportantroleinmanyfields,suchasrobotics,machinevision,andmotionanalysis.Inthispaper,weproposeadesignofaDSP-basedaxis-anglemeasurementsystem.Thesystemconsistsofathree-axisinertialsensor,aDSPprocessor,andsoftwarealgorithmsfordataprocessingandanglecalculation.Wealsoconductedexperimentstoevaluatetheaccuracyandfeasibilityofthesystem'sperformance.TheresultsshowedthattheDSP-basedaxis-anglemeasurementsystemisaneffectiveandreliabletoolforanglemeasurement. Introduction: Anaxis-anglemeasurementsystemisadevicethatmeasurestheanglebetweentworeferenceframes.Itiswidelyusedinrobotics,machinevision,andmotionanalysis.Theaxis-anglemeasurementsystemcanbedividedintotwotypes:hardware-basedandsoftware-based.Ahardware-basedsystemusesphysicaldevicestomeasuretheangle,whileasoftware-basedsystemusesalgorithmstocalculatetheangle. Inthispaper,weproposeadesignofaDSP-basedaxis-anglemeasurementsystem.Thesystemconsistsofathree-axisinertialsensor,aDSPprocessor,andsoftwarealgorithmsfordataprocessingandanglecalculation.Wealsoconductedexperimentstoevaluatetheaccuracyandfeasibilityofthesystem'sperformance. OverviewoftheSystemArchitecture: TheDSP-basedaxis-anglemeasurementsystemconsistsofthreemaincomponents:athree-axisinertialsensor,aDSPprocessor,andsoftwarealgorithmsfordataprocessingandanglecalculation. Thethree-axisinertialsensormeasurestheaccelerationandangularvelocityofthesystem.Thesensoroutputisintheformofvoltagesignals,whicharethenconvertedtodigitalsignalsbyanA/Dconverter. TheDSPprocessorhandlesdataacquisition,signalprocessing,andanglecalculation.TheprocessorboardisconnectedtotheinertialsensorandA/Dconverterthroughaserialinterface. ThesoftwarealgorithmsfordataprocessingandanglecalculationareimplementedontheDSPprocessor.Thesoftwareincludesdigitalfiltering,calibration,andanglecalculation. DesignandAnalysisoftheSystem: Thethree-axisinertialsensorusedinoursystemisanMPU-6050.Thesensormeasurestheaccelerationandangularvelocityofthesystem.These