Development of Attitude Determination System for Moving Carrier Based on MEMS Sensors

摘要

The moving carrier need accurate positioning and localization for their guidance, navigation and control. In order to get the space attitude of the carrier accurately and real-time, an attitude determination system of MEMS gyros, accelerometers and magnetometer is proposed in this paper. The design of electronic system adopts dual-core mode that based on FPGA and DSP, FPGA reads the measurement data of combined sensors to internal FIFO and then sends interrupt signal to DSP, Float-point DSP is used as the attitude determination processor to exert the multiple sensors data fusion to accomplish the attitude determination. The paper illuminates the hardware realization of the scheme, as well as the software which is composed of overall process and the implement of IC protocol. Furthermore, the software of the multiple sensors data fusion is developed to calculate the accurate result of the carrier's attitude. Finally, the experiment of prototype vehicle verification was made. The result indicates that the static accuracy and dynamic accuracy of the attitude angle are respectively better than 0.15° and 2°, which meets the moving carrier's navigational requirements such as high reliability and high precision.