The Design Of High Precision Attitude Sensor

Attitude measurement plays an important role in industrial control, military equipment, aeronautics, astronautics and navigation technologies, whereas attitude sensor is the key instrument to measure carrier attitude change. With the development of MEMS inertial sensor technologies, the application of MEMS in ertial attitude sensor has already been applied to each field of engineering. In this paper, MEMS angle sensor and MEMS gyroscope are adopted to measure the angle of pitch and the angle of roll corresponding to the carrier’s coordinate frame, which was successfully applied to measure the attitude of a domestic type of barbette servo system and to realized the purpose of the whole system’s precise attack.This paper proceeds from the MEMS technology and attitude sensor development, elaborately designed the general frame of the angle sensor through analyzing the application environment and the function of the sensor. From the perspectives of the theory of MEMS inertia measurement, we analyzed and classified the error source of MEMS inertia measurement unit, obtained the analytic expression among the measured value, the true value and the error source, further deduced a error compensation model. Then the least-square method, time series analysis and Kalman filtering technology are adopted for simple analysis and preliminary compensation.This article specializes the data processing, data calibration, system hardware design and software design. From the perspectives of the system function realization, stability and reliability, we integrated the EMC ideas in the hardware design, achieved high precision attitude measurement. And calibrate the sensor data by theodolite and rotary table to realize the high precision of attitude measurement. Finally, we finished the angle debugging, calibration and EMC experiments in the laboratory.The test results indicated that the absolute error of the attitude sensor will not exceed±0.03°in static testing, and±1°in dynamic testing. And the attitude sensor achieved very good performance in EMC experiments, environment experiments and worked steadily for a long time. Demonstrated that the designing scheme of attitude sensor is feasible, the error model of the MEMS inertia measurement unit is correct, the data processing method is effective, and thereby basically meet the requirements of system design.