Research On Attitude Measurement System Based On MEMS Inertial Devices

Attitude measurement is the premise of carrier attitude control.With the continuous development of navigation system,higher requirements are put forward for the accuracy and real-time performance of attitude measurement.In this paper,an attitude measurement system of MEMS inertial devices is designed.The inertial sensor ADIS16488 is used as the inertial measurement unit and Zynq as the hardware platform to complete the collection and calculation of attitude information.In this thesis,the attitude algorithm and the hardware platform are studied.Firstly,the working principle and basic theory of attitude measurement system are introduced,including the establishment of several inertial coordinate systems and attitude matrix.For MEMS gyroscope working alone when the attitude algorithm of algorithm through the contrast test,analysis of the use of quaternion and euler Angle method for updating the attitude matrix of the advantages and disadvantages,combined with the MEMS accelerometer and magnetometer combination at the output of attitude Angle measurement,the information fusion method based on kalman filter algorithm to improve the system of measuring precision.The principle of velocity calculation is introduced,and the initial alignment technology of attitude measurement system,including coarse alignment and fine alignment,is introduced.Secondly,the error model of each MEMS sensor in inertial measurement unit is established and the error analysis is carried out.Then,build the hardware platform of the System,use Zyng internal PL(Programmable Logic)to complete the acquisition of attitude information output of inertial sensor,use Zynq internal PS(Pro cessing System)to complete the attitude information solution,and the solved good attitude information through serial port upload to PC,use MATLAB to achieve the display of attitude information.Finally,the system was tested for performance,including the communication test of AXI DMA within Zynq,which ensured the correct communication between PS and PL parts.Theattitude measurement system is tested statically and dynamically,and the velocity and position is calculated and analyzed.The final results show that the attitude measurement system designed in this paper has high output accuracy and has certain practical value.