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陀螺仪mpu6050输出角度
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2017-09-19
11:17:35
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MPU6050模块是InvenSense公司推出的一款低成本的6轴传感器模块,包括三轴加速度,三轴角速度。 其体积小巧,用途非常广。做平衡小车,四轴飞行器,飞行鼠标等等,都是必不可少而且是最优的传感器解 决方案。本人根据自己的一些实际工作经验和使用体会来谈谈MPU6050的相关问题吧,抛砖引玉,如有不当 之处,欢迎大家批评指正。 不论是做平衡还是四轴飞行器,关键的问题在于两方面,一是模块姿态的确定,通常需要用到积分运算 与卡尔曼滤波算法,需要较强的数学功底与编程能力,二是稳定控制,方法比较单一,就是经典的PID控制算 法,难点在于需要根据实际情况调整PID的参数,需要做实验确定,不难,只是费时间。因此以下主要分析姿 态确定问题。
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