肉牛产肉量预测装置中位置姿态测量模块的研究与实现

发布时间：2018-07-01 19:22

本文选题：预测装置 + 位置姿态测量　；参考：《西北农林科技大学》2015年硕士论文

【摘要】：本文旨在研发肉牛产肉量活体预测装置中的位置姿态测量模块,测定预测装置的位置与姿态,为构造牛体三维模型、进而预测活牛产肉量做准备。该模块依据惯性导航原理,采用ZigBee无线传输技术,通过采集的加速度和角速度数据计算预测装置的位置与姿态,主要工作如下:(1)设计实现位置姿态测量模块。依据肉牛产肉量预测装置的实际需求,从方便使用、低成本出发进行模块设计,采用MEMS加速度计和陀螺及ZigBee模块等构建该模块。ZigBee模块选用CC2530控制加速度计和陀螺进行数据的采集,并完成数据的无线收发,将数据传送到PC机上进行处理。(2)建立加速度计和陀螺的误差模型。分析加速度计和陀螺的误差成分,构建以零偏、刻度因子、交叉耦合项和随机误差为主的、含有24个待定参数的加速度计误差模型和陀螺误差模型。分别使用12位置法和角位置法,对加速度计误差模型和陀螺误差模型中的参数进行标定,导出误差模型中的待定参数,得到误差模型的数学表达式。采用Kalman滤波算法对随机误差进行处理,降低加速度计和陀螺的随机误差。实验表明,加速度计的测量误差方差相对于使用误差模型前的降低了84.78%;陀螺的测量误差相对于使用误差模型前的降低了88.25%。(3)解算载体的姿态和位置。根据采集到的加速度和角速度,采用四元数法先对姿态进行解算。使用四阶龙格库塔算法对四元数进行更新,以解算出的姿态信息为测量值,以采集的加速度数据为观测值,使用UKF滤波算法进行数据融合,降低姿态解算过程中由陀螺漂移引起的误差,300秒静态姿态解算偏差在-0.2o~+0.2o以内,动态姿态解算偏差在-2o~+2o以内。推导位置姿态测量模块适用的比力方程,导出速度和位置的解算公式,位置解算长度为1m时,X轴最大误差为0.0216m,Y轴最大误差为0.0959m,Z轴最大误差为-0.0289m。
[Abstract]:The purpose of this paper is to develop the position and attitude measurement module of the live prediction device for beef meat production, to determine the position and attitude of the prediction device, and to prepare for the construction of the three-dimensional model of cattle body and the prediction of live cattle meat production. According to the inertial navigation principle, ZigBee wireless transmission technology is used to calculate and predict the position and attitude of the device through the collected acceleration and angular velocity data. The main work is as follows: (1) Design and implement the position attitude measurement module. According to the actual demand of the meat quantity prediction device of beef cattle, the module is designed for convenience and low cost. The MEMS accelerometer, gyroscope and ZigBee module are used to construct the module. CC2530 control accelerometer and gyroscope are used to collect the data. The data is transferred to PC for processing. (2) the error model of accelerometer and gyroscope is established. The error components of accelerometers and gyroscopes are analyzed, and the error models of accelerometers and gyroscopes with 24 undetermined parameters are constructed, which are dominated by zero bias, scale factors, cross-coupling terms and random errors. The parameters of the accelerometer error model and the gyro error model are calibrated using the 12-position method and the angular position method respectively. The undetermined parameters in the error model are derived and the mathematical expressions of the error model are obtained. The Kalman filtering algorithm is used to deal with random errors to reduce the random errors of accelerometers and gyroscopes. The experimental results show that the error variance of accelerometer is 84.78 less than that before using the error model, and the measurement error of gyroscope is 88.25 lower than that before using error model. (3) the attitude and position of carrier are calculated. According to the collected acceleration and angular velocity, the quaternion method is used to calculate the attitude. The fourth order Runge-Kutta algorithm is used to update the quaternion. The attitude information is used as the measured value, the acceleration data is taken as the observation value, and the UKF filtering algorithm is used for data fusion. The error caused by gyroscope drift is reduced in the course of attitude calculation. The error of static attitude solution is within -0.2o- 0.2o, and the error of dynamic attitude solution is within -2o2o. The formula of velocity and position is derived. The maximum error of X axis is 0.0216mY axis when the length of position solution is 1 m, and the maximum error of Z axis is 0.0959mU Z axis is -0.0289mm.
【学位授予单位】：西北农林科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：S823;S818.9

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