Design Of MEMS Attitude Measurement System Based On FPGA

The compass has been an important tool for people’s navigation and orientation since ancient times.With the development of science and technology,electronic compass products have gradually replaced traditional compasses with their unique excellent features and are widely used in navigation,surveying,and outdoor adventure.Aiming at the application direction of underwater carrier direction-finding navigation,this dissertation designs a set of attitude measurement system composed of three-axis magnetometer and three-axis accelerometer based on the new electronic compass.First,using the Earth’s magnetic field model,in-depth study of the principle of attitude and attitude measurement based on electronic compass,forming the overall system design and objectives.Secondly,by comparing the advantages and disadvantages of various types of magnetic sensors and accelerometers,the triaxial vector magnetic sensor(TMR2309)and the MEMS accelerometer(ADXL355)are selected as the core sensitive components according to the system design index to construct the attitude measurement system hardware platform.Hardware design is the main work of this thesis,including: hardware system solution demonstration,chip selection,circuit design,function simulation and verification,parameter optimization,circuit debugging;FPGA-based information acquisition and data processing module design,simulation,and debugging.Afterwards,software filtering algorithms,error compensation and correction algorithms,and heading angle calculations were performed.High frequency interference suppression and heading angle smooth output were achieved.Finally,the azimuth measurement experiment is performed on the system in both horizontal and inclined states,and the magnetic field interference error parameters are obtained by ellipse fitting.The research of this subject achieves the prototype design of the attitude measurement system.The test results verify the feasibility of the application of the triaxial vector magnetoresistive sensor in the electronic compass,which is beneficial to the promotion of the miniaturized electronic compass in underwater unmanned vehicles and other carriers.On the application.