Research And Implementation Of9-axis Sensors-based Attitude Reference System

In general, the attitude reference system (ARS) estimates attitude (roll and pitch)of the body relative to the reference frame by implementing such as sensors. With therapid development of Micro Electro Mechanical System (MEMS) and the emergenceof new high performance electronic components, it is possible to achieve higheraccuracy attitude measurement system conditions. Thence, Attitude reference systemmore widely. Design and Implementation of MEMS sensor based attitude referencesystem is of great significance.This article design and implement a performance attitude instrument from threeaspects, the attitude reference system theory, system hardware and software design andexperiment. The system which consists of accelerometers, gyroscopes and electroniccompass, peels interfering signals to improve system accuracy by extracting theinformation of the sensor and further filtering process. For different sensors andapplication environments, use a different attitude solver and signal fusion algorithm toachieve a reliable and stable attitude reference system.First of all, according to the attitude reference system parameters, designhardware system of attitude reference system with9axis sensor. Consider economicand system performance of the system, by comprehensive comparison of product type,price, device parameters, and use of the environment, design the specific hardwarecircuit.Then, consider the different application environments and different characteristicsof the sensor, design software algorithms. Under equilibrium conditions, theinformation of accelerometer and the magnetic field of electronic compass oriented tosolving attitude angle; under dynamic conditions, gyroscopes output signal as theleading, using quaternion as the state variables, the use of the Kalman filter (KF)method to obtain the attitude data of the carrier. Data fusion is not easy due tocomplementary filtering parameters to ascertained difficultly, this paper proposes twomethods: First, the introduction of the acceleration sensor signal mode as a complementary filter parameters to determine an important parameter, becauseaccording to the acceleration mode system can determine the intensity of themovement of the carrier, compared to static parameters is more fitting carrier gesture;the other method is to set the control system parameters through the user input, sincethere is often a certain possibility of predictability in actual system, take the initiativeto make control system know which the characteristics of the environment in next, soas to improve the speed and attitude measurement accuracy.Finally, the attitude reference system software algorithms implemented in thedesign of the hardware platform, verify the rationality of the design of the circuitdesign and software. The experiments show that the system under static and dynamicconditions has excellent performance, fast dynamic response, high static accuracy,good stability.