论文总字数：30604字

摘 要

当前，科技的进步不断地为推进社会生活水平的提升和智能化水平的发展提供动力，在这种条件下传感器的发展水平也得到了很大的提升。而目标飞行器的姿态数据获取全靠传感器来完成，且电子陀螺仪的运用也越来越广泛。本课题主要是完成对目标飞行器倾角数据和磁极数据的获取。

本课题的主要任务是通过TMS320F28335 DSP微控制器I2C接口对电子陀螺仪的姿态数据及磁极传感器数据进行采集、传输和分离可靠送入微控制器，通过优化算法对该数据进行有效解析、数字滤波处理，获得比较准确的位置信息。由于TMS320F28335 DSP微控制器内存分配是统一编址，即使有256k存储空间，还需要对地址进行分配，使其存储空间的到合理充分利用。

本次研究，我们做到了对电子陀螺仪的姿态数据及磁极传感器数据进行准确的采集，并且经过传输和分离后将数据准确地送入TMS320F28335 DSP微控制器中。通过获取及解读MPU6050的姿态数据及HMC5883L的磁极数据，并且对MPU6050获取到的加速度与角度分别转换为倾角参数并进行卡尔曼滤波、对HMC5883L的磁感应强度数据进行偏移计算和最值处理后，我们能够准确且稳定的得出电子陀螺仪的实时姿态及磁极信息。并且通过修改.cmd文件，对TMS320F28335 DSP微控制器的内存进行了重新分配，使其的内存空间得到了充分利用。

关键词：磁极检测 倾角测量 TMS320F28335 DSP 内存分配

Software realization of magnetic pole detection and dip angle measuring system

Abstract

At present, the progress of science and technology continues to provide impetus for the promotion of social living standards and the development of intelligent level. In this case, the level of sensor development has been greatly improved. The attitude data acquisition of target vehicle is accomplished by sensors, and the application of electronic gyroscope is more and more extensive. The main task of this paper is to acquire the tilt data and magnetic pole data of target vehicle.

The main task of this project is through the TMS320F28335 DSP microcontroller I2C interface for electronic gyro attitude data and magnetic pole sensor data acquisition, transmission and reliable separation into the micro controller, through the optimization of the algorithm is effective for the data analysis, digital filtering, to obtain more accurate location information. Since the memory allocation of the TMS320F28335 DSP microcontroller is unified addressing, even if there is 256K storage space, it is necessary to allocate the address, so that the storage space to make full use of reasonable.

In this study, we have made accurate acquisition of attitude data and magnetic pole sensor data of electronic gyroscope, and sent data accurately into TMS320F28335 DSP microcontroller after transmission and separation. The attitude data and HMC5883L pole data acquisition and interpretation of MPU6050, acceleration and angle and the MPU6050 acquired were converted to angle parameters and Karman filter, the magnetic induction intensity data of the HMC5883L offset calculation and the value of treatment, we can real-time attitude and pole information that is accurate and stable electronic gyroscope the. And by modifying the.cmd file, the memory of the TMS320F28335 DSP microcontroller is redistributed, so that its memory space is fully utilized.

Keywords: Pole detection; Dip angle measuring; TMS320F28335 DSP; allocate the address

目 录

摘 要 I

Abstract II

第一章 绪论 1

1.1 引言 1

1.2 课题研究现状及应用前景 1

1.3 课题简介及本文所做工作 2

第二章 磁极检测与倾角测量系统基本理论 3

2.1 磁极检测与倾角测量系统的结构及工作原理 3

2.1.1 MPU6050 介绍 4

2.1.2 HMC5883L 介绍 5

2.2 DSP281X及28335内存分配策略 7

2.2.1 DSP281X及28335系统概述 7

2.2.2 CMD文件的优化 8

第三章 电子陀螺仪方向参数获取的软件实现 11

3.1 I2C通信协议简介 12

3.2 电子陀螺仪方向参数获取的主流程 14

3.2.1 参数获取系统的主要流程 14

3.2.2 读一帧数据 17

3.2.3 写一帧数据 18

3.3倾角测量软件实现 20

3.3.1 倾角测量参数解析及软件实现 20

3.3.2 数据处理软件实现 22

3.3.3倾角信息解析系统的坐标标定 23

3.4 磁极检测软件实现 26

3.4.1 磁极检测参数解析及软件实现 26

3.4.2 数据处理软件实现 27

3.4.3磁极信息解析系统的坐标标定 27

3.5 CMD正确配置及软件测试 29

第四章 总结和展望 31

4.1 总结评价 31

4.2 展望 31

参考文献 33

致 谢 35

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