嵌入式应用中的IMU使用指南(中英对照).pdfVIP

嵌入式应用中的IMU 使用指南 A Guide To using IMU(Accelerometer and Gyroscope Devices) in Embedded Applications 2009/ 12/29 By starlino Translated by Tigerdawn 原文网址：/imu_guide.html 简介（Introduction） Introduction This guide is intended to everyone interested in inertial MEMS (Micro-Electro-Mechanical Systems) sensors, in particular Accelerometers and Gyroscopes as well as combination IMU devices (Inertial Measurement Unit). 本指南意在为那些对惯性MEMS （微机电系统）传感器，特别是对加速度计 和陀螺仪，以及组合IMU 设备（惯性测量单元）感兴趣的人提供参考指导。 Example IMU unit: Acc_Gyro_6DOF on top of MCU processing unit UsbThumb providing USB/Serial connectivity IMU 单元举例：在单片机处理单元上的是Acc_Gyro_DOF ，UsbThumb 提供的 是USB/Serial 接口 Ill try try to cover few basic but important topics in this article: 我会在本文中尽量呈现一些基本但是却很重要的问题： - what does an accelerometer measure -加速度计到底测量的是什么 - what does a gyroscope (aka gyro) measure -陀螺仪测量的是什么 - how to convert analog-to-digital (ADC) readings that you get from these sensor to physical units (those would be g for accelerometer, deg/s for gyroscope) -怎样把你从这些传感器上获得的ADC 的读数转化成实际的物理量（比如及速度 计读数转化成g,陀螺仪读数转化成deg/s ） - how to combine accelerometer and gyroscope readings in order to obtain accurate information about the inclination of your device relative to the ground plane -怎样把加速度和陀螺仪读数结合起来，以便得到设备相对于地平面的精确地倾 斜信息 Throughout the article I will try to keep the math to the minimum. If you know what Sine/Cosine/Tangent are then you should be able to understand and use these ideas in your project no matter what platform youre using Arduino, Propeller, Basic Stamp, Atmel chips, Microchip PIC, etc. There are people out there who b