基于微惯性组合的嵌入式航姿参考系统研究

发布时间：2018-01-12 13:05

本文关键词：基于微惯性组合的嵌入式航姿参考系统研究　出处：《上海交通大学》2012年硕士论文　论文类型：学位论文

【摘要】：嵌入式航姿参考系统(AHRS)采用微惯性敏感器件包括三轴陀螺仪,三轴加速度计和三轴磁强计的组合作为微惯性测量单元(MIMU),利用嵌入式处理器实时处理采集到的MIMU数据,再根据捷联惯导姿态解算算法对其进行多传感器数据融合,从而实时解算出载体当前的姿态信息。微机械系统(MEMS)技术日臻成熟,微惯性敏感器件因其具有体积小、低功耗、重量轻、响应快、灵敏度高、成本低等优点,已日益广泛地应用于军事和民用领域,基于微惯性组合的嵌入式航姿参考系统是近年来研究的热点之。本文提出了完整的基于微惯性组合的嵌入式AHRS设计理论和方法,阐述了用于捷联惯导的姿态矩阵更新理论,姿态解算理论以及Kalman滤波算法。文中首次设计出基于ADIS16405作为载体姿态惯性测量单元、DSP TMS320F28335作为微处理器的嵌入式AHRS研究平台。在研究平台的基础上,文中创造性的结合MARG算法的静态解算优势和龙格库塔算法的动态解算优势进行载体姿态解算数据融合。然后,通过理论算法和实际数据的验证,从而实现了MATLAB理论仿真到真实研究平台的无缝衔接。本文最终提出种全新的设计方案,采用MEMS传感器三轴陀螺仪、三轴加速度计和三轴磁力计作为惯性测量单元,ARM Cortex-M3内核微处理器STM32作为姿态解算核心,实现了完整的嵌入式AHRS应用平台设计。最后,通过完成专用的上位机通讯协议的编制和用户交互界面的定制,从而使本文的研究成果能够转变为实际可用的嵌入式AHRS应用产品。结果证明,本文的研究成果能够大大加速实用的嵌入式AHRS产品的研发进度,对基于微惯性组合的嵌入式航姿参考系统的研究和开发具有重要的参考价值。
[Abstract]:The embedded attitude reference system (AHRS) uses micro inertial sensing devices including three axis gyroscopes, three axis accelerometers and three axis magnetometers as the micro inertial measurement unit (MIMUU). The embedded processor is used to process the collected MIMU data in real time, and then the multi-sensor data fusion is carried out according to the strapdown inertial navigation attitude solution method. As a result, the current attitude information of the carrier can be solved in real time. The micro-mechanical system (MEMS) technology is becoming more and more mature. Because of its small volume, low power consumption, light weight, fast response and high sensitivity, the micro-inertial sensitive device has the advantages of small volume, low power consumption, light weight and high sensitivity. With the advantages of low cost, it has been widely used in military and civil fields. The embedded attitude reference system based on micro inertial combination is a hot topic in recent years. In this paper, a complete theory and method of embedded AHRS design based on micro inertial combination is presented, and the attitude matrix updating theory for sins is expounded. Attitude calculation theory and Kalman filtering algorithm. In this paper, the attitude inertial measurement unit based on ADIS16405 is designed for the first time. DSP TMS320F28335 is the embedded AHRS research platform of microprocessor. This paper creatively combines the advantages of static solution of MARG algorithm and dynamic solution of Runge-Kutta algorithm to fuse the carrier attitude solution data. Then, the theoretical algorithm and the actual data are verified. In order to realize the seamless connection between MATLAB theory simulation and real research platform, this paper finally put forward a new design scheme, using MEMS sensor three-axis gyroscope. Three-axis accelerometer and three-axis magnetometer are used as inertial measurement unit and arm Cortex-M3 core microprocessor STM32 as the core of attitude calculation. The design of embedded AHRS application platform is realized. Finally, through the completion of a dedicated host computer communication protocol and user interface customization, so that the research results in this paper can be converted into the practical use of embedded AHRS application products. The research results of this paper can greatly accelerate the research and development of practical embedded AHRS products, and have important reference value for the research and development of embedded attitude reference system based on micro inertial combination.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP368.1;TN966

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