基于集成导航的四轮驱动智能汽车系统的设计与实现

Proceedings of The 6th International Conference on Innovation in Science and Technology Pub Date : 2023-05-01 DOI:10.56397/ist.2023.05.06

Jie Tao, X. Wang, Jiazhen Si

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引用次数: 0

摘要

重点介绍了基于地磁传感器、三轴陀螺仪和三轴加速度计的组合导航系统的基本原理。设计了以STM32F4单片机为控制核心，RZ7899为电机驱动的四轮独立驱动汽车平台。通过MPU6050获取的四元数得到车辆航向角，并结合地磁参数，采用串列双PID控制算法通过修正偏转角进行导航，使智能汽车在一定范围内无需其他导航系统即可直线行驶。

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Design and Implementation of 4WD Intelligent Car System Based on Integrated Navigation

Focuses on the basic principle of integrated navigation system based on geomagnetic sensor, three-axis gyroscope and three-axis accelerometer. A four-wheel independent driving car platform is designed with STM32F4 MCU as the control core and RZ7899 as the motor drive. The vehicle heading angle is obtained through the quaternion obtained by MPU6050, and combined with the geomagnetic parameters, the serial double PID control algorithm is used for navigation by correcting the deflection angle, the intelligent car can run in a straight line without other navigation systems within a certain range.

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Proceedings of The 6th International Conference on Innovation in Science and Technology

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