Design And Implementation Of Redundant Heading Attitude Reference System Based On MEMS

The heading attitude reference system based on MEMS is an inertial measurement device that has appeared in recent years and can measure the real-time attitude information of the carrier.Due to the advantages of small size,low power consumption,and low cost,the system has a large number of applications in the military and civil life.With the development of science and technology,the performance requirements of the market for navigation systems are also increasingly high.Therefore,the reliability of the system has become an important indicator for measuring the advantages and disadvantages of the heading attitude reference system.In most military applications or a few areas of life,the failure of the heading attitude reference system will cause serious accidents or economic losses.Therefore,the problem that needs to be solved is how to improve the reliability of the system.Aiming at the low reliability of the heading attitude reference system based on MEMS in extreme environments,a redundant heading attitude reference system based on MEMS is proposed to improve the reliability of the system by means of device redundancy.Through system requirement analysis,system feasibility analysis.Through the system hardware platform design,system software development design and calibration and calculation algorithm to achieve the development of the design.The main work of the paper is as follows:Firstly,the background and significance of this topic are described,and the problems that need to be solved are put forward by analyzing the defects of existing systems at home and abroad.In order to improve the reliability performance of the system,the redundancy configuration of the system is analyzed.In order to realize the low power consumption characteristics of the system,the system device selection is compared and analyzed.In order to realize the low cost characteristics of the system,the hardware design scheme is analyzed and formulated.In order to realize the miniaturization of the system,the redundancy structure and circuit board configuration are analyzed.Secondly,the system uses ADI's four MEMS gyroscopes and four MEMS accelerometer sensitive carrier attitude information,uses Altera's FPGA to collect the output information of the MEMS device and send it to the Kinetis 60 processor to achieve data solution in the K60.And output attitude information.The system hardware circuit and PCB board are designed,and FPGA's minimum system circuit and peripheral EPCS circuit,K60 minimum system circuit and peripheral RS232 circuit,MEMS sensor circuit and system power supply circuit are designed respectively.Thirdly,the programs of FPGA and K60 are designed separately.First,the development environment of FPGA is introduced.The hardware of FPGA is configured using Quartus II and Qsys,and FPGA and MEMS devices and K60 communication programs are written using the NIOS II development environment.Next,the development environment IAR of K60 is introduced,and the communication program between FPGA and K60 and the attitude algorithm is written on IAR.Finally,the FIR filter is designed to reduce the error of the analysis.The error model of MEMS device is established and the device is calibrated.The calibration coefficient of the device is obtained and compensated.Matrix transformation and quaternion algorithm are introduced.Through static and dynamic experiments,it is proved that the reliability of the redundant heading attitude reference system based on MEMS is improved.