Research On MTi Inertial Measurement Unit And Testing Platform

In recent years, with the development of MEMS technology, the micro-inertialmeasurement system based on MEMS has become a hotspot in and out of China. The aircraftposture system, which was built by MEMS sensors, it can greatly reduce its volume andconsumption.It will be applied broadly in many fields, such as aerospace, automobile and etc,so it is necessary to study.In this dissertation,the Attitude Heading Reference System is composed of the attitudesensor（enhanced gyroscope, accelerometer and magnetometer）and the embeddedprocessor.This system use accelerometers and magnetometers to make up the gyroscope,which keeps the system’s dynamic stability. And then, the optimal posture estimate will begiven by the Kalman filter, which keeps attitude measurement accuracy.In this dissertation, the following work has been down: Firstly the dissertation researchesevery sensor model, Kalman filter programs about MTi and MTi’s coordinate system.Secondly, the dissertation analyzes two output modes, characteristics of each mode andconversions of data between different modes.Third, the dissertation analyzes thedata-acquired mode, the SDK mode and the low level communication protocol.It focuses onanalyzing the data transmission protocol.Fourthly, the dissertation uses the stepping motors asexecution components construct s a testing platform for MTi. Its aim is to investigate thecontents analyzed above.Finally, the dissertation tests the properties of the platform above.