基于mems的微小型嵌入式航姿参考系统研究-陈宇捷.docx
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1、上海交通大学 硕士学位论文 基于 MEMS的微小型嵌入式航姿参考系统研究 姓名:陈宇捷 申请学位级别:硕士 专业:导航、制导与控制 指导教师:钱峰 20090101 基于 MEMS的微小型嵌入式航姿参考系统研究 摘要 传统的航姿系统精度虽高但是成本也很高,而且体积也偏大,往 往只适用军事领域,在民用领域难以大规模使用。然而在越来越多的 民用领域,如电子玩具、三维仿真、运动检测、机器人、 VR游戏等 领域,都急需低成本小型化航姿参考系统。随着嵌入式系统的飞速发 展及新型高性能惯性元器件的出现,使得研究低成本小型化航姿参考 系统成为可能。本文研究一种基于微机电系统 ( MEMS)传感器与数 字信号
2、处理器 ( DSP)的微小型航姿参考系统,具有低成本、小型化 等特点,且具有较高的精度。 本论文首先介绍了航姿参考系统的基本理论和工作原理,包括惯 性系统中的常用坐标系的定义、载体的姿态表示与坐标转换、惯性导 航系统的基本方程以及姿态方程,并对捷联姿态算法做了初步阐述。 本文采用四元数法解算姿态矩阵,同时采用卡尔曼滤波算法修正摇摆 载体的姿态误差来计算载体的姿态。 其次,本论文给出 了整个基于 MEMS的航姿参考系统的总体设计 方案。此系统由传感器模块、数据采集模块、微处理器及外围接口、 串口通信模块及上位 PC机等组成。系统的传感器模块采用 ADI公司 三轴惯性组合 ADIS16350及 H
3、oneywell公司的三轴磁阻传感器 HMC1021Z/1022组成;数据采集模块主要是为了解决信号拾取,信 号放大,信号 A/D转换与干扰抑制等诸多问题。通过 DSP系统来完 成导航计算,并将所计算的导航姿态信息通过串行通讯口在上位机上 实时显示出来。本文给出了器件的选择方案,系统整体框图,硬件电 路结构原理 图,软件算法流程图和部分的应用程序,并对此进行了详 细的阐述。 第 I页 最后,本文将软硬件系统进行集成、调试,形成了一个可独立运 行的嵌入式 DSP系统,并设计了验证实验。实验结果表明,系统基 本能满足设计需要,与市场上现有成熟产品的结果相比,误差在可接 受范围内。 MEMS传感器作
4、为数据采集单元,配合 DSP作为运算和 控制单元的航姿系统结构紧凑,重量轻,成本比采用传统光纤陀螺的 捷联航姿系统要低,同时具有更高的可靠性,适用于对精度要求不高 的场合。 关键词:航姿参考系统,微机电系统,四元数,卡尔曼滤波,数字信 号处理器 第 II页 RESEARCH OF MICRO AND EMBEDDED ATTITUDE AND HEADING REFERENCE SYSTEM BASED ON MEMS ABSTRACT Although the triditional Attutude and Heading Reference System (AHRS) provides
5、a high level of precision, however, the high cost and a large size made it impossible to be used for the civil technologies but military fields. In more and more civil fields, the huge demand of this technology, such as the electronical toys, tridimensional emulation, sports detection, robots and VR
6、 games, a low-cost and micro AHRS can greatly benefit the technology development in these areas. With the rapid development of embedded system and the appearance of newly high-performed inertial components, its possible to design a low-cost and micro AHRS. The paper researches a kind of AHRS which b
7、ases on Micro Electro Mechanical System (MEMS) and Digital Singal Processor (DSP). It characterizes low cost, small volume and higher precision. Firstly, the basic theories and operational principles of AHRS are introduced, including the definition of usually coordinates in inertia system, carriers
8、attitude denotation and coordinates conversion, basic equation and attitude equation in inertia system. Then elementarily expatiate the attitude algorithm. Quaternion algorithm is used to calculate the attitude matrix in this paper. Kalman filter algorithm is used to modify the attitude error of vib
9、rational carrier. Secondly, the whole system design of AHRS based on MEMS is given in the paper. The system consists of sensor module, data collection module, DSP and periphery port, serial communication module and PC. The sensor module is composed by ADIs tri-axis inertial sensor ADIS16350 and Hone
10、ywells tri -axis magnetometer HMC1021Z/1022. The data coolection module is mainly used to collect the sensor singal, magnify the 第 III页 singal, transmit the singal from Analog singal to Digital singal and restrain noise. DSP is used to calculate the attitude and heading. All attitude information are
11、 shown in the screen of PC through the serial communication port. Components selection, system block chart, circuit diagram, software algorithm flow chart and part of application programs are discussed in detail. Lastly, the software and hardware are integrated into an embedded DSP system which can
12、singly works. Experiments are designed to validate the system. The result shows that the system can meet the requirement. The error of the system to some companys products is acceptable. AHRS which uses MEMS sensor for data collection unit and combines DSP for calculation and control, has compact st
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