Research On Attitude Detection System Based On Integrating Geomagnetism And Micro Inertial Device

With the development of magnetic detection technology and the continuousimprovement in the geomagnetic field model, the measurement of geomagneticinformation has higher accuracy. With the advantages of geomagnetic field andmagnetic sensors, such as no accumulative errors and quick response, integratinggeomagnetism and micro inertial measurement unit to estimate attitude can solve theproblem of accumulative errors for the inertial apparatus. So a method for attitudeestimation with high accuracy, small size, low cost and anti-overloading can beachieved. The integrated attitude detection based on the geomagnetism detection hasbeen a significant branch of carrier attitude detection and can be widely applied in thenavigation system, spin projectile rotating attitude detection and mobile communicationterminal. This paper studied on geomagnetism/micro inertial apparatus integratedattitude detection.First, this paper studied traditional inertial attitude detection, geomagnetic fieldbasic theory, and geomagnetism attitude detection. By analyzing the working principleand error source of the micro inertial apparatus and magnetic sensors, the paper buildeda error model of state variables，and then derived the Kalman filter state equation andobservation equation based on the additive quaternion error model. The paper alsostudied the updating algorithms of quaternion and made the simulation analysis. Finally,it chose fourth order Ronge-Kutta method as the quaternion updating algorithm. Thepaper also built the simulation-based mathematical model of sensors and made thesimulation experiment of geomagnetism/micro inertial apparatus integrated attitudedetection. We proposed an attitude detection scheme in the state of accelerated motion.Finally, the paper conducted experiment on the simulation turntable. According toexisting conditions, we designed experimental scheme, chose the proper sensorsaccording to the result of simulation experiment, and designed the sensor data collectingsoftware. The measured data by sensor was analyzed and processed, and focused on thecompensation method of the measured magnetic field data. We also conducted theactual attitude detection, and analyzed the factors affecting the experiment results. Theresults indicated that the integrated attitude detection system was effective and themeasurement accuracy was higher than0.8°...