The Research Of Heading And Attitude Measurement Technology Based On Composite Sensor

Today, with the development and progress of the society, because of Micro Electro Mechanical System miniaturizing, and the silicon as the main material, it makes the mechanical and electronic performance is good, produced in large scale, integrated, multidisciplinary, low power consumption and widely dynamic range, which is widely used in measurement field. In the measurement field, inertial systems of heading and attitude is a direction of inertial development. Inertial systems of heading and attitude mainly used to measure the attitude and heading of the carrier, so that navigate and control the carrier.This test briefly introduced the development, composition and application of the inertial systems of heading and attitude. And, it put out a kind of inertial systems of heading and attitude based on the MEMS sensor, which is mainly composed of MEMS accelerometer and MEMS gyroscope. And it analysis and process of MEMS sensor error causes, methods of reducing errors. Further more, it introduces that the basic working principle of strapdown attitude measurement system, including the definition of coordinate system in the inertial system, initial alignment algorithm and attitude matrix updating algorithm; And it analysis the Euler angle algorithm, quaternion algorithm and direction cosine algorithm, it mainly used quaternion algorithm.MEMS sensor can accurately measure the acceleration and angular speed of the carrier in the space. And it can obtain the carrier attitude depending on the attitude algorithm, and it can process the error used Kalman filter and Wavelet transform, so that ensure the diagraph accuracy and credibility under the normal circumstances.Through analysis of the principle and performance of MEMS sensors, and according the performance and cost requirements of system, MPU6050 sensor is chosen as the main Inertial Measurement Unit, and choosing the HMC5883L as the auxiliary Inertial Measurement Unit, in order to the demand of the system measurement.This test proposes an implementation program of inertial systems of heading and attitude, which based on MEMS sensor. The hardware of the system includes MPU6050 and HMC5883L acquisition modide.Ard(?)mo UNO control module and peripheral auxiliary module etc.. In addition Ard(?)mo UNO control module can complete the function of data control and processing. arritude algorithm and other related functions with Atmega328 as the CPUFinally, this test integrated, compiled, debugged and ran system of hardware and software, in which forming achievable inertial systems of heading and attitude. The experiments are designed to validate the system functions of MEMS sensor data acquisition, Initial alignment and attitude algorithm. The results show that the design of inertial systems of heading and attitude can work normally, the performance can meet the design requirements. The inertial systems of heading and attitude has good application prospect and value as a result of its characteristics in small volume, fast response, low cost, good real-time performance and so on.