Design And Realization Of Low-cost Attitude And Heading Reference System Based On Combination Of Micro Inertial Devices And GPS

Attitude Reference System, also known as the Attitude and Heading Reference System (AHRS),usually consists of three-axis accelerometer, three-axis gyroscope and digital magnetometer, whosemain task is measured by the inertial sensor output data and real-time application certain gesture solver algorithm derived motion vectors instant motion parameters provide attitude and heading information for the moving vehicle. The traditional attitude reference system of high cost and large size, does not apply to hand-held navigation attitude determination and personal navigation attitude determination.Taking into account the volume of the attitude reference system design cost, power consumption and system, the paper uses a microprocessor-based inertial sensors and GPS way to achieve in handheld devices and personal navigation devices measuring attitude attitude measurement. AHRS Attitude paper around solver algorithm, AHRS and GPS hardware algorithm for posture and attitude reference system operator and software implementations and a series of key technologies solver attitude studied.Firstly, the attitude reference system for the basic theory of a brief introduction shows by comparative analysis, selected based on quaternion attitude solver algorithm; and then based on the attitude of the extended Kalman filter algorithm solver discussed in detail and deduced state equation and measurement equation solver AHRS attitude; the combination of micro inertial sensors and GPS data fusion, deduced AHRS attitude determination with GPS navigation state equation and measurement equation. Finally,through the application of Matlab simulation software AHRS attitude alone solver algorithms and AHRS and GPS attitude solution algorithm was compared to prove the feasibility AHRS and GPS attitude determination algorithms.Then, from a combination of hardware and attitude reference systems and software to proceed, a detailed description of the hardware circuit design and software design scheme of the system. Hardware circuit design centered around the microcontroller chip TM4C1294 start, select 9-axis inertial sensor chip micro MPU9150 and localization GPS module as a combination of attitude reference system data measuring modules to the LCD as a display interface navigation attitude determination information.Software design is the selection of embedded software development tools IAR Embedded Workbench,complete software programming design portfolio attitude reference system based on a modular design ideas to achieve a combination of navigation attitude determination, attitude determination LCD display real-time information and historical data storage Features.Finally, the combination of attitude reference system static performance test and dynamic performance test, the test results show that the designed combination of attitude reference system in static and dynamic environments can navigate attitude determination, to achieve the desired objectives.