本项目旨在制作一个用于第一人称视角(FPV)遥控飞行的头部姿态追踪系统。系统利用惯性测量单元测量头部运动姿态，生成相应的舵机驱动信号，利用遥控发射器传输到遥控飞机，驱动摄像云台跟随头部运动，达到模拟第一人称飞行的目的。



系统采用ATmega328 MCU；利用 BMA180 三轴加速度传感器、ITG3200 三轴角速度传感器、HMC5883 三轴磁场传感器组成 9 自由度测量单元；通过 1602 LCD 直观显示控制菜单。系统软件基于 Arduino，采用方向余弦矩阵 (DCM) 进行姿态解算。



系统特性

支持三轴云台跟踪

直观的姿态显示和设置菜单

支持外部 PPM 合成和内部 PPM 合成

云台舵机通道可调

可调整舵机运转方向、中立点、运行速度和行程

作者

斑斑，Hazy-This project aims to produce a head pose tracking system for the remote control flight of the first-person view (FPV). The system uses inertial measurement unit to measure head movements posture, generates the corresponding servo drive signals, using the remote control transmitter transmitted to the remote control aircraft, drive the camera head to follow head movements to achieve the purpose of the simulation of first-person flight. Using ATmega328 MCU　the BMA180 triaxial acceleration sensor, ITG3200 triaxial angular rate sensor, HMC5883 three-axis magnetic field sensor is composed of nine degrees of freedom measurement unit　by 1602 the LCD and intuitive control menu is displayed. The system software is based on the Arduino, the direction cosine matrix (DCM) for the attitude solution. The system features intuitive gesture to support the three-axis head tracking display and setup menu to support the running direction of the external PPM synthesis, and the steering gear of the interna