圆点博士小四轴飞行器MPU6050重力加速度自我测试验证

圆点博士 2013-1-1 12:33 楼主

圆点博士小四轴飞行器MPU6050重力加速度自我测试验证：

先看数据手册：
7.12 Self-Test
Self-test allows for the testing of the mechanical and electrical portions of the sensors. The self-test for each
measurement axis can be activated by controlling the bits of the Gyro and Accel control registers.
When self-test is activated, the electronics cause the sensors to be actuated and produce an output signal.
The output signal is used to observe the self-test response.
The self-test response is defined as follows:
Self-test response = Sensor output with self-test enabled – Sensor output without self-test enabled
The self-test response for each accelerometer axis is defined in the accelerometer specification table
(Section 6.2). Similarly, for the gyro axes, self test allows the proof masses to be moved equivalent to a predefined
Coriolis force, resulting in a change in sensor output. The self-test response for each gyroscope axis
is defined in the gyroscope specification table (Section 6.1).
For further information regarding the Gyro & Accel control registers, please refer to the MPU-6050 Register
Map and Register Descriptions document.

谷歌翻译：
7.12自检
自检允许传感器的机械和电气部分的测试。为每个该自检
测量轴控制的陀螺仪和加速度控制寄存器的位可以被激活。
当自检被激活时，电子导致被致动的传感器，并产生一个输出信号。
的输出信号被用来观察自检响应。
自检响应被定义为如下：
自检响应具有自检功能的传感器的输出 - 传感器的输出未启用自我测试
自检响应被定义为每个加速度计的轴中的加速度计规格表
（6.2节）。类似地，对于陀螺仪轴，自检允许证明群众被移动相当于一个预定义的
科里奥利力，导致在传感器输出的变化。自检响应为每个陀螺仪轴
中定义的陀螺仪规格表（第6.1节）。
的陀螺仪和加速度控制寄存器的详细信息，请参阅MPU-6050的注册
地图和寄存器说明文件。

圆点博士微型四轴飞行器MPU6050在没有校正下的加速度读数：36mg,-9mg, 958mg

圆点博士微型四轴飞行器MPU6050在有校正下的加速度读数：607mg,561mg, 1554mg

根据数据手册公式：
Self-test response = Sensor output with self-test enabled – Sensor output without self-test enabled

Self-test response =607mg-36mg=571mg
Self-test response =561mg-(- 9mg) =570mg
Self-test response =1554mg-958mg=596mg

从而可知，该次测试下MPU6050的重力加速度自我测试响应在570-596之间。

根据MPU6050数据手册：Self-test response数值在300mg到950mg之间。

实验说明：圆点博士微型四轴飞行器完美通过MPU6050重力加速度数据校正

圆点博士小四轴