Research On Attitude Measurement Method Of Small Imaging Tracking Device Based On MEMS Inertial Sensor

The imaging tracking device is the core component of precision guidance weapons,which can complete a variety of complex functions such as target tracking and precision guidance.Attitude measurement is the key technology for the imaging tracking device to achieve diversified functions.At present,most attitude measurement systems are large in size,and the focus of attitude measurement algorithms is on stationary motion.So most of attitude measurement algorithms are not suitable for the imaging tracking device,which is subject to severe motion acceleration when working.With the increasing demands for the imaging tracking device,smaller and more feature-rich imaging tracking device attracts people's attention gradually.The imaging tracking device integrates MEMS inertial sensors to measure attitude.Therefore,the research on attitude measurement method of the small imaging tracking device integrating MEMS inertial sensors is very important.The paper focuses on the attitude measurement technology of the small imaging tracking device.Firstly,the paper introduces the basic theories of the attitude measurement,including common attitude calculation methods and multi-sensor data fusion algorithms.Aiming at the shortcomings of the small imaging tracking device which is easily interfered by motion acceleration,a new adaptive acceleration separation algorithm is proposed.Secondly,MPU6050 is selected as the inertial sensor,and the C8051F383 is selected as the micro-processor to design attitude measurement system as hardware platform.The MPU6050 integrates an accelerometer and a gyroscope,and the C8051F383 has excellent parameters in size and performance.Then,sliding window median filtering is used to reduce the random noise of MPU6050.Aiming at the characteristics of accelerometer and gyroscope,the ellipsoid fitting and measurement model are used to calibrate sensors and compensate measurement error.The experimental results show that the error compensation is very effective.Finally,the paper summarizes the implementation process of attitude measurement system in small imaging tracking device,and perform attitude measurement experiment and result analysis,which using the measurement data of Ellipse2-A as the attitude angle reference.The experimental results show that under motion state,the attitude angle error is less than 1° and the accuracy is improved by more than 50% by using acceleration separation algorithm.Both the accuracy of attitude measurement and antiinterference ability meet the needs of practical applications.