本文關(guān)鍵詞：基于微慣性組合的嵌入式航姿參考系統(tǒng)研究　出處：《上海交通大學(xué)》2012年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 航姿參考系統(tǒng) 微慣性測量單元 微機(jī)械系統(tǒng) 姿態(tài)更新算法 Kalman濾波算法

【摘要】：嵌入式航姿參考系統(tǒng)(AHRS)采用微慣性敏感器件包括三軸陀螺儀,三軸加速度計(jì)和三軸磁強(qiáng)計(jì)的組合作為微慣性測量單元(MIMU),利用嵌入式處理器實(shí)時(shí)處理采集到的MIMU數(shù)據(jù),再根據(jù)捷聯(lián)慣導(dǎo)姿態(tài)解算算法對其進(jìn)行多傳感器數(shù)據(jù)融合,從而實(shí)時(shí)解算出載體當(dāng)前的姿態(tài)信息。微機(jī)械系統(tǒng)(MEMS)技術(shù)日臻成熟,微慣性敏感器件因其具有體積小、低功耗、重量輕、響應(yīng)快、靈敏度高、成本低等優(yōu)點(diǎn),已日益廣泛地應(yīng)用于軍事和民用領(lǐng)域,基于微慣性組合的嵌入式航姿參考系統(tǒng)是近年來研究的熱點(diǎn)之。 本文提出了完整的基于微慣性組合的嵌入式AHRS設(shè)計(jì)理論和方法,闡述了用于捷聯(lián)慣導(dǎo)的姿態(tài)矩陣更新理論,姿態(tài)解算理論以及Kalman濾波算法。文中首次設(shè)計(jì)出基于ADIS16405作為載體姿態(tài)慣性測量單元、DSP TMS320F28335作為微處理器的嵌入式AHRS研究平臺(tái)。在研究平臺(tái)的基礎(chǔ)上,文中創(chuàng)造性的結(jié)合MARG算法的靜態(tài)解算優(yōu)勢和龍格庫塔算法的動(dòng)態(tài)解算優(yōu)勢進(jìn)行載體姿態(tài)解算數(shù)據(jù)融合。然后,通過理論算法和實(shí)際數(shù)據(jù)的驗(yàn)證,從而實(shí)現(xiàn)了MATLAB理論仿真到真實(shí)研究平臺(tái)的無縫銜接。本文最終提出種全新的設(shè)計(jì)方案,采用MEMS傳感器三軸陀螺儀、三軸加速度計(jì)和三軸磁力計(jì)作為慣性測量單元,ARM Cortex-M3內(nèi)核微處理器STM32作為姿態(tài)解算核心,實(shí)現(xiàn)了完整的嵌入式AHRS應(yīng)用平臺(tái)設(shè)計(jì)。 最后,通過完成專用的上位機(jī)通訊協(xié)議的編制和用戶交互界面的定制,從而使本文的研究成果能夠轉(zhuǎn)變?yōu)閷?shí)際可用的嵌入式AHRS應(yīng)用產(chǎn)品。結(jié)果證明,本文的研究成果能夠大大加速實(shí)用的嵌入式AHRS產(chǎn)品的研發(fā)進(jìn)度,對基于微慣性組合的嵌入式航姿參考系統(tǒng)的研究和開發(fā)具有重要的參考價(jià)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.
【學(xué)位授予單位】：上海交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TP368.1;TN966

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