中文摘要：

航拍云台姿态获取是航空摄影中相机姿态校正的基本依据,介绍了一种基于硬件Kalman滤波器的航拍云台姿态获取的实现方法.设计中采用MPU6050作为系统的姿态传感器,它提供三轴角速度和三轴加速度数据.根据系统特征建立Kalman滤波方程对这些数据进行数据融合处理,Kalman滤波过程中的加减乘除浮点数运算由FPGA实现,外部数据的采集和时序的控制也由FPGA完成.经过对实际数据的处理实验,得出该硬件模块可以获得较为准确的航拍云台姿态,输出结果误差在-1.5°～1.5°范围内.

英文摘要：

The attitude acquisition of aerial photograph pan-and-tilt is the fundamental basis for correcting attitude in aerial photograph,this paper introduces a method about attitude acquisition of aerial photograph pan-and-tilt based on hardware Kalman filter.The design adopts MPU6050 as system＇s attitude sensor,which provides three axis angular velocity and three axis acceleration.Kalman filter equation is established to process these data based on system features,add,subtract,multiply and divide calculation in Kalman filter are achieved by FPGA,acquisition and sequential control of external data are also done by FPGA.Experiments for actual data conclude that this hardware module can get correct attitude of aerial photograph pan-and-tilt,the error of output result is between-1.5 degree and 1.5 degree.