The Embedded Attitude Measurement System's Design

Attitude Measurement System (AMS) is to determine object's (spacecraft, aircraft,ships,etc.) attitude (heading, pitch angle and roll angle) by using navigation satellites technology . Because of its militarycivil, commercial and other fields has broad application prospects, has become a research focus. Traditional attitude measurement techniques is using high-precision gyro and acceleration sensors to achieve. However, this approach is difficultly technically, need expensive equipme -nt, also have the data drift serious, result large accumulated error. Now, with the rapid development of GPS technology, the method by using GPS carrier phase difference technology has become an important attitude measurement research area. Through GPS antennas is placed on the object's above, we can measure the carrier phase of GPS, and then make differentially process, we can get the object's attitude. With GPS carrier phase differential technology as a key, this paper researches attitu -de measurement based on GPS.In this paper, the main content and innovations as follows:(1) This paper researches the fast solving of integer ambiguity. In the method using carrier phase difference, the solving of double difference integer ambiguity is important and difficult. we present new method to solve integer ambiguity, it based on the Ant Colony Evolving Algorithm (ACEA) .(2) This paper researches inertial measurement as an auxiliary attitude determination's method. Using the results of inertial attitude measurement to imp -rove the response speed of GPS attitude measurement. In the actually physical environment, GPS signals will be affected by weather, geography and other factors interference. In the GPS signal is weak or under occlusion, use inertial attitude measurement module to ensure attitude measurement stability and robustness.(3) This paper research the hardware of the attitude measurement system 's design. Use TI's 32-bit precision floating-point TMS320C6747 DSP processor as the core of GPS attitude measurement algorithm processing,and use Atmel's a low-power ,8-bit microcontroller Atmega128L as the core of inertial attitude determination and human-machine interface processing. Dual-core structure jointly complete the attitude angle's calculation and display, and positioning, timing display.