摘  要：由于载体姿态的变化和海浪等因素的影响，海洋浮标成像系统所获得的图像不稳定或者模糊，如何改变现状是人们不断探讨和研究的课题。结合陀螺传感器MPU6050和磁力计HMC5883L设计一套基于ARM11的云台稳定控制系统，通过S3C6410的I2C接口读取MPU6050和HMC5883L的数据，采用卡尔曼滤波算法对其进行处理，然后解算出载体的航向角和俯仰角，实现云台摄像机姿态的反向调整。当云台摄像机与PC相连时，对UleadVideoStudio软件进行简单的配置，便可看到云台摄像机所拍摄的视频信息。实验结果表明：云台将以水平速度280°/s、垂直速度100°/s完成反向偏转，最长反馈调整时间为0.38 s，满足工程上的应用需求；该系统电路结构简单、成本低、可视化且稳定，可以移植到无人机及船舶监控等场合，具有一定的实用性。
关键词：MPU6050；HMC5883L；卡尔曼滤波；四元数；云台
文献标志码：A       文章编号：1674-5124（2016）01-0074-05
Design of PTZ stability control system in ocean buoy based on ARM11
ZHOU Jinjin1，2， LIN Zhi2，　WANG Xiaoying2
（1. School of Information and Electrical Engineering，China University of Mining and Technology，
Xuzhou 221000，China；
2. School of Electric and Automatic Engineering，Changshu Institute of Technology，Changshu 215500，China）
Abstract: Because of carrier changing postures and waves and other influential factors， the images acquired from the image system on an ocean buoys is unstable or fuzzy. How to solve this problem has become a topic of constant discussion and research. A set of PTZ stability control system， comprising a gyroscopic sensor MPU6050 and a magnetometer HMC5883L， was developed on an ARM11. The operating principle of the system is as follows: read the data of MPU6050 and HMC5883L through the I2C interface of S3C6410 and process these data by Kalman filtering algorithm. Next， calculate the azimuth angle and pitching angle of the carrier to adjust reversely the posture of the PTZ camera. When the PTZ is connected with PC by USB， the video information can be seen by simple configuration of Ulead VideoStudio software. The experiment results have shown that the PTZ would complete reverse deflection at a horizontal speed of 280°/s and a vertical speed of 100°/s and the longest adjustment time of feedback is 0.38 s， which meets the requirements of engineering application. The system， characterized by simple circuit structure， low cost， visualization and stability， can be transplanted to unmanned aerial vehicles （UAVs） and ship monitoring places.
Keywords: MPU6050； HMC5883L； Kalman filter； quaternions； PTZ