基于MEMS传感器的数字式航姿系统设计

摘要

In order to overcome the shortcomings of traditional attitude heading reference system which realize on analogue mechanical desktop, a digital strap-down inertial attitude heading reference system based on MEMS inertial sensor and MEMS magnetic sensor is designed. Combined with quaternion differential equation,a Kalman filter,whose obsered quantities are accelerations and magnetic heading is used to fuse data and modify gyro' s shift. A kind of microsoft high performance embedded operating system is installed in a PC104 industrial module which is used as a navigation computer. The static and tracking test show that this system can be easily operated and meets the required precision of attitude heading reference system well.%针对传统的模拟平台式航姿系统的不足,设计并实现了基于微惯性传感器和微磁传感器的数字式捷联惯性航姿系统.结合四元数微分方程,利用一种以加速度计和磁航向为观测量的卡尔曼滤波器进行数据融合,实现了对陀螺漂移的修正.PC104作为导航计算机,安装了微软高性能嵌入式操作系统.实物静态和跟踪实验表明:该航姿系统简单可行,能够很好地满足航姿系统精度要求.