Nine-axis Attitude Reference System Research Based On Micro Fluxgate

In recent years,the market for attitude reference systems at home and abroad has gradually matured.The demand for mid-to-high-grade digital attitude reference systems based on nine-axis sensors is increasing.There is no mature attitude reference system based on flux-gate design in the market.The attitude reference system is a navigation system that uses inertial sensors and magnetic field sensors to measure the attitude angle of a moving vehicle.Because of the low accuracy and large size of the traditional attitude and attitude reference system,its application in many aspects is limited.With the rapid development of micro-electromechanical technology(MEMS)and micro-mechanical technology,providing conditions for miniaturization and higher precision attitude reference systems.Because of the wider application of attitude reference systems,it is of great significance to research and implement an attitude reference system applied to a telescope based on ARM processors,inertial sensors and micro flux gates.This article starts with the principles of attitude reference system,system hardware design,system software design and system testing,completely designs and implements an attitude reference system applied to a telescope.The system consists of an accelerometer,a gyroscope,and a miniature fluxgate,gets sensor data and filters it.For different sensors,using different correction methods,combined with attitude calculation and data fusion algorithms,an attitude reference system that satisfies the system performance requirements is achieved.Firstly,the basic theory and working principle of the attitude reference system are introduced,including coordinate systems,the definition of attitude angles,the quaternion method,the comparison of attitude calculation methods and algorithms,principle of integrated navigation,Beidou system and inertial system.Through the research of adaptive weighting factors,an adaptive Kalman filtering algorithm for the attitude and reference system suitable for this study is proposed.Secondly,the overall design of the attitude reference system based on embedded system is introduced.The hardware design scheme was put forward,and each function module was described in detail.At the same time,the software design scheme was also proposed.The software implementation method of the attitude reference system based on ARM was mainly introduced.Finally,in order to verify whether the system meets the design requirements,a prototype hardware testing platform is built.The software of the attitude reference system was implemented on the prototype hardware platform,and the rationality of the overall system design,circuit design and software design was verified.The experimental test results show that the designed attitude reference system system meets the system performance requirements under both static and dynamic conditions.