摘  要：由于載體姿態的變化和海浪等因素的影響，海洋浮標成像系統所獲得的圖像不穩定或者模糊，如何改變現狀是人們不斷探討和研究的課題。結合陀螺傳感器MPU6050和磁力計HMC5883L設計一套基于ARM11的云臺穩定控制系統，通過S3C6410的I2C接口讀取MPU6050和HMC5883L的數據，采用卡爾曼濾波算法對其進行處理，然后解算出載體的航向角和俯仰角，實現云臺攝像機姿態的反向調整。當云臺攝像機與PC相連時，對UleadVideoStudio軟件進行簡單的配置，便可看到云臺攝像機所拍攝的視頻信息。實驗結果表明：云臺將以水平速度280°/s、垂直速度100°/s完成反向偏轉，最長反饋調整時間為0.38 s，滿足工程上的應用需求；該系統電路結構簡單、成本低、可視化且穩定，可以移植到無人機及船舶監控等場合，具有一定的實用性。
關鍵詞：MPU6050；HMC5883L；卡爾曼濾波；四元數；云臺
文獻標志碼：A       文章編號：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