基于立体视觉的变形测量

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本帖最后由 leiqi 于 2015-9-24 10:53 编辑

通信接口：串口，默认波特率115200
模块支持波特率：9600、115200、230400、460800
数据更新：每2MS---2.5MS输出一次姿态角度
小板尺寸：16mm*26mm
引脚间距：2.54mm（100mil）
供电电源：3V--5V（板上集成LDO）
通过串口或IIC接口读数据
串口直接输出角度
帧率达400Hz，达到每2--2.5mS更新数据帧的超快更新率

LEADIY-M3C is the newest and greatest version of intchip smart uart output IMU module. M3C is 10Dof IMU module with auto run feature. The goal of the M3C is to simplify the development of projects based upon the most powerful and new consumer grade inertial, magnetic and pressure sensors. M3C incorporates three sensors: an MPU-6050(MEMS triple-axis gyro with triple-axis accelerometer ), HMC5883L(triple-axis magnetometer), thus it can give you nine degrees of inertial measurement. In addition, M3C incorporates BMP180(pressure sensor). There is also a cortex MCU on board, by reading the data from the various sensors, it is possible to compute precisely the orientation of M3C in the space. The orientation result is output through uart interface. The main application of M3C is orientation sensing such as drones, action game controller, self-balancing robot, industrial measuring instrument, autonomous vehicles and video stabilization systems. M3C is a tiny but powerful orientation solution.

The cascaded Kalman filter is used in our system to improve the estimated attitude.The precision of the attitude is up to 0.01 Deg. The output frame rate is up to 400Hz. The uart baud rate can be configured up to 460800.

And designed computer monitoring software to monitor the change of the attitude.Simply connect M3C to the serial TX and RX pins with a USB To TTL Serial Converter Adapter Module , open our VisualIMU terminal program, you can see the changing of the attitude, current temperature, air pressure, altitude, Gyroscope angular velocity, acceleration value, magnetism. The data outputted is varied with the position and angle of the module.

You can also read the sensors from the unified IIC access routines, before you do this, you should stop the on-board MCU’s access by sending stop serial output command.

We also provide some example software that demos the used of LEADIY-M3C. Demo code worked on STM32 board and demo code worked on arduino platform can be provided.

Figure 2 shows relative data output of M3C in horizontal state.The compass is used to indicate the heading of the module.

谢谢楼主分享这些好资料，应该多用点时间好好学习学习！