摘要
针对飞思卡尔杯全国大学生智能汽车竞赛中的磁导航智能车,研制了路径信息采集系统。硬件上提出了利用仪表用差动放大电路对信号进行放大处理的方法,同时采用加速度传感器对车体姿态进行检测;软件上通过对传感器输出量的归一化处理并结合曲线拟合,提出了基于最小二乘法的有限数据量曲线拟合算法。该算法兼顾了处理器运算能力与系统控制的实时性,以实现对车体位置的快速准确判断。测试结果表明该方案是有效的。
Based on the magnetic navigation smartcar in the national college smartcar competition called the Freescale cup, the path information collection system is developed. In terms of hardware, a method uses the differential amplifier applied in meter to enlarge the signal, at the same time, uses the acceleration sensor to detect the attitude of the smartcar. In terms of software, through normalizing the sensor output and combined with curve fitting, a curve fitting algorithm based on the least square method using a limited amount of data is proposed and this algorithm gives consideration to both processing ability of the processor and the real-time ability of the system. Thus aehieve the goal to judge the extract loeation of smartcar. The actual test of the magnetic navigation smartcar proves the program is effective.
出处
《微型机与应用》
2011年第1期19-22,共4页
Microcomputer & Its Applications
关键词
差动放大电路
归一化
曲线拟合算法
最小二乘法
磁导航
智能车
differential alnplifier
normalize
curve fit algorithm
least square method
magnetic navigation
smartcar
作者简介
王元哲，男，1990年生，学士，主要研究方向：嵌入式技术，运动控制。
谈英姿,女，1969年生，副教授，主要研究方向：人工免疫网络优化，智能系统建模仿真与控制，智能机器人，工业控制网络等。
