Design and implementation of a MEMS-based attitude angle measuring system for moving objects

In order to make attitude measurement used widely, a MPU-6050 inertial measuring module is applied to design an attitude angle measuring system for moving objects. Hardware is designed, including a microprocessor control module, inertial measurement module, serial communication module and so on; The software-related design work is introduced too, such as the principle of attitude calculation, quaternion attitude algorithm, workflow of software and so on. The system uses STM32F103C8T6 as microprocessor module, RS232 interface to communicate with PC and three-axis turntable system to complete system test. Test results show that: the system has better results in detecting attitude angles of moving objects with more high accuracy, and is suitable of attitude measurement of most of moving objects. The system has high practical value as its high quality –value ratio for money and good performance stability.