单片机控制的汽车姿态报警系统.docVIP

PAGE PAGE 34 单片机控制的汽车姿态报警系统 摘要 本毕业设计主要设计了实现对汽车姿态的检测、滤波、逻辑处理继而将结果进行呈现并报警的流程的系统。汽车姿态报警系统主要包含了姿态检测传感器系统、逻辑处理系统、蓝牙通讯系统、手机应用系统以及蜂鸣器报警系统，其中逻辑及信号处理系统和手机应用系统最为关键，前者负责信号的滤波处理、信息简化以及信息打包的过程，后者负责将结果抽象化、图形化，并进行记录。汽车姿态报警系统的工作流程，先由姿态检测传感器发出信号，由逻辑处理系统接收并进行处理和发送，一则判断是否达到报警所需要的要求，并依照结果向蜂鸣器报警系统发送报警信号，二则向蓝牙通讯系统传输实时数据，由该系统转发数据给手机应用系统，而在手机应用端，可以方便地查看实时数据以及历史数据，并可以发送命令通过蓝牙通讯系统和下位机系统（逻辑处理系统）进行对话。 汽车姿态报警系统的主要信号处理过程包含：信号采集、滤波和分析打包。信号由姿态检测传感器MPU6050加速度计采集到通过IIC接口传送给处理器，处理器对其使用卡尔曼滤波得到相对平滑的数据曲线，最后将三维数据经过权重、二次函数比压缩成一维数据，通过蓝牙通讯系统打包成蓝牙数据对外传输。处理器使用STM32F103RBT6，该芯片运算速度快，足够达到支持运行滤波算法的能力，适合用于本设计。其程序由keil编译器编译并下载，和串口助手一起对程序进行调试，透过串口通信可以实时反馈处理器的状态。 该逻辑处理系统实现了对信号的稳定滤波，对信号的降噪起到了极大的作用。利用蓝牙以及串口通信，使得该系统能够实现数据的抽象显示、统计分析以及对外存储，为用户提供了良好的使用体验，并更加直观地呈现汽车姿态状态。 关键词：汽车姿态；卡尔曼滤波；蓝牙；串口；加速度计 ABSTRACT The main design of this thesis is to achieve the detection, filtration, logical analysis of car gesture and show the result then alert. Car gesture alert system mainly contains the gesture detect system, blue-tooth communication system, alert system with two most important systems: logic analysis system which is in charge of filter analysis, signal simplified and signal package, mobile-phone application system which is in charge of abstracting , graphing and recording. The process of car gesture alert system is receiving signal from gesture detect module firstly, then analysis and send signal by logic analysis system. One is deciding if reached the request, and send alert signal to alert system follow the result. Two is sending real-time data via blue-tooth system to mobile phone APP, where is easy to check real-time data and history data, with function of sending commands to control PLC via blue-tooth, and also communication. The main signal processing of the car gesture alert system mainly consists of signal gathering, signal filter and package. The signal is acquired from MPU6050 G-sensor via IIC to MPU. With Kalman Filter, the rough signal became smooth and effected by weighting, quadratic function we can get one-