Design And Research Of Attitude Measurement Based On ADIS16488MEMS Inertial Measurement Unit

In recent years, The MEMS gyroscope has been widely used in aviation, aerospace,marine, military tanks, submarines, and various types of missiles because of it has small size,low cost, high integration, high reliability and other advantage. However, MEMS gyroscopemeasurement accuracy is low, when the gyro works long time, the accuracy of measurementis shift. So it need to compensated by other inertial sensor. Based on this, This paper designeda inertial navigation attitude measurement system, the system has the core of ADIS16488IMU and used TMS320F2812DSP as the inertial navigation computer. Through collecting thesensor data to solve attitude, Using serial communication to send the solved data to thePC,achieving the attitude real-time display.This paper introduces the basic theory of inertial attitude measurement system principlesand attitude determination algorithms. Used quaternion to update the attitude information.Designed kalman filter. The Filter used accelerometers and magnetometers to correct the gyrosolved attitude.In order to reduce the measurement error on MEMS inertial devices, improve theaccuracy of attitude measurement system. This paper established the error model on MEMSinertial device with the research of MEMS inertial device principles. For the error mechanismof the MEMS gyroscope, Used wavelet transform to reduce the output signal noise onADIS16488MEMS gyro. After the experiment, the wavelet noise reduction technology forMEMS gyroscope has the better output in this paper. The error range for MEMS gyro zerooutput is effectively reduced.The System hardware consists of a sensor data transmission module, navigationcomputer module, RS-232serial communication module and external circuit modules andother components.The system used TMS320F2812DSP as the core to implement the systemsoftware part of the sensor data processing, carrier attitude solver functions. This paper gives hardware schematics, software modules flowcharts and elaboration of these flowcharts.Finally, Through the system static attitude shift analysis and the low dynamic attitudedivergence analysis, We verified the system performance for the design of inertial attitudemeasurement in this paper. Experimental results show that the design of inertial measurementattitude system in this paper is reliable. It has a high-profile output accuracy. It is suitable forin-vehicle navigation, UAV navigation and other fields.