Design Of The Micro Attitude Measurement System Based On Lab Windows/CVI

In recent years,with the fast development of MEMS technology, micro-inertial-sensors and measurement modules become hotspot research scholars at home and abroad.The micro inertial attitude measurement system,which is composed by MEMS inertial sensor,it can be greatly reduce its volume,weight and cost.Thereby it can be applied in abroad area.This thesis presents the background and meaning of research this system and summarizes the situation of this research area on the abroad recently.And also emphasis on the key technology in how to develop this system.The micro mechanical inertial attitude measurement system designed by this thesis include MTi Micro-Inertial-Measurment-Unite(MIMU) and virtual instru ments.After analysed the reason of the MEMS inertial sensor'serror,the error model equation is set up,and the demarcate experiment of MIMU is studied.The demarcate scale coefficient of three-dimensional gyroscope and the coefficient of cross-coupling error,the scale coefficient of three-dimensional accelerometer and cross-coupling error are all given.Aim at the characteristic that the MEMS inertial sensor has errors,This thesis use Kalmanfilter for data iniegration of the gyros,aecelerometers and magnetometers to get an optimal estimation of vehicle attitude Focus on the problem that the systerm's large initial misalignment angles makes the moldel of the state is nolinear,a UKF(unscented Kalman filter) filtering algorithm was derived by this thesis for the system's initial alignment.Finally,throuth the virtual instrulnents deyelopment environment Lab windows/CVI,a suit of soft system which comprise sensor data acquisition, attitude measurement system calibration and attitude information display functions can be designed.In practice,this soft is proved has some practicability.