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基于STM32的电子计步器的设计与实现.docx
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基于STM32的电子计步器的设计与实现.docx
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摘 要
随着生活节奏的不断加快,留给人们的锻炼时间越来越少,走路和跑步成为人们日常生
活中为数不多的运动之一。计步器携带方便,能很好地完成量化运动量的目标。因此,最
近几年各种计步器以及计步软件大量出现。鉴于人们对于步数检测准确度的要求以及使用
便利的需求,十分有必要设计一套计步算法并应用于相关的计步器。
本设计的研究目的是设计出一款高精度、便携的计步器。本设计的主要难点在于数据
滤波算法以及计步检测算法的研究。首先,本设计分析了几种数据滤波的方法,选择了比
较适合的卡尔曼滤波算法。接着,分析了现有的几种计步检测算法,包括动态阈值算法和
峰值检测算法。发现这些算法都不是很准确,所以本文设计了一种新的计步检测算法,提
高了计步检测的精度,为其他研究者在步数检测方面提供了一种较好的解决方案。最后,
本设计还采用了 TFT 彩屏的人机交互界面,可以实时显示卡路里、时间以及步数。
通过实际调试过程中的不断改进,实现了计步器的准确检测。
关键词: 计步器 MEMS 传感器 滤波 步数检测
Design and Implementation of Electronic pedometer Based on STM32
Abstract
With the accelerating pace of life, less and less exercise time is left for people. Walking and
running become one of the few sports in people's daily life. The pedometer is easy to carry and
can achieve the goal of quantifying the amount of motion well. Therefore, in recent years, a large
number of pedometers and pedometer softwares have appeared. In view of the requirement of
accuracy and convenience of step detection, it is necessary to design a set of step counting
algorithm and apply it to relevant pedometers.
The purpose of this design is to design a high precision and portable pedometer. The main
difficulty of this design is the research of data filtering algorithm and step-counting detection
algorithm. Firstly, several data filtering methods are analyzed, and a suitable Kalman filtering
algorithm is selected. Then, several existing step-by-step detection algorithms are analyzed,
including dynamic threshold algorithm and peak detection algorithm. It is found that these
algorithms are not very accurate, so this paper designs a new step-counting detection algorithm,
which improves the accuracy of step-counting detection, and provides a better solution for other
researchers in step-counting detection. Finally, the design also uses the human-computer
interaction interface of TFT color screen, which can display the number of steps, distance, time
and calories in real time.
Through continuous improvement in the actual debugging process, the accurate detection of
pedometer is realized.
Key words: pedometer; MEMS sensor; movement recognition; step detection
目录
1 绪论 .........................................................................................................................................1
1.1 研究背景和意义 ..................................................................................................................1
1.2 国内外研究现状 ..................................................................................................................1
1.3 章节安排 ..............................................................................................................................2
2 系统总体设计方案 .........................................................................................................3
2.1 设计目标 ..............................................................................................................................3
2.2 系统架构分析 ......................................................................................................................3
2.3 系统方案分析 ......................................................................................................................3
2.3.1 佩戴位置选择 ...............................................................................................................3
2.3.2 MEMS 惯性传感器的数据读取....................................................................................4
2.3.3 数据融合与滤波 ...........................................................................................................5
2.3.4 计步算法 .......................................................................................................................8
3 系统硬件设计....................................................................................................................9
3.1 系统硬件电路总体设计 ......................................................................................................9
3.2 单片机最小系统设计 ..........................................................................................................9
3.3 MEMS 传感器.....................................................................................................................10
3.4 其他外围电路 .....................................................................................................................11
3.4.1 电源转换 .....................................................................................................................11
3.4.2 TFT 彩屏电路 ..............................................................................................................11
3.4.3 无线串口通信 .............................................................................................................12
4 系统软件设计..................................................................................................................13
4.1 系统软件总体设计 ............................................................................................................13
4.2 中断设计 .............................................................................................................................14
4.2.1 定时器中断 .................................................................................................................14
4.2.2 串口中断 .....................................................................................................................15
4.2.3 中断优先级判断 .........................................................................................................16
4.3 MPU6050 原始数据采集....................................................................................................16
4.3.1 陀螺仪和加速度计的配置工作 .................................................................................16
4.3.2 串行口的配置工作 .....................................................................................................17
4.3.3 IIC 读取姿态传感器数据 ............................................................................................17
4.4 数据处理 ............................................................................................................................18
4.4.1 数据类型统一 .............................................................................................................18
4.4.2 卡尔曼滤波 .................................................................................................................19
4.5 计步算法 ............................................................................................................................21
4.6 无线串口通信 ....................................................................................................................22
5 系统调试.............................................................................................................................23
5.1 系统调试上位机 ................................................................................................................23
5.2 标定 MPU6050 零点..........................................................................................................23
5.3 卡尔曼滤波参数调试 ........................................................................................................23
5.4 计步测试 ............................................................................................................................24
6 总结与展望 .......................................................................................................................25
6.1 总结 ....................................................................................................................................25
6.2 展望 ....................................................................................................................................25
6.3 课题研究对环境以及社会的影响 ....................................................................................26
参考文献..................................................................................................................................27
附录.............................................................................................................................................28
附录一 系统硬件原理图和 PCB.............................................................................................28
附录二 系统实物图 .................................................................................................................29
附录三 系统核心 .....................................................................................................................29
致谢.............................................................................................................................................37
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