The Research And Design Of MEMS Based Motion Attitude Reference System

In the past ten years,MEMS technology has developed rapidly,and it has also driven the vigorous development of MEMS inertial devices.As MEMS technology matures,the cost of MEMS inertial devices continues to decrease,and MEMS devices have become more widely used.As an early application of MEMS technology,MEMS inertial sensors have been greatly developed in recent years,and the device size is constantly decreasing,but the accuracy has been increasing.MEMS inertial devices have the characteristics of small size,low cost and easy integration,which make them stand out in the market competition and occupy more medium and low precision navigation and attitude measurement markets.Aiming at the broad application prospect of MEMS devices,this paper designs and implements a MEMS-based motion attitude reference systemThis paper first reviews the development of MEMS technology and the application of MEMS inertial devices.It introduces the specific application of MEMS devices in attitude measurement.Then the principle of strapdown inertial navigation attitude and attitude calculation is elaborated,and the attitude and position are given.,the speed update equation and the solution equation,and derive the error equation of the strapdown inertial navigation system.Next,the basic principle of Kalman filter is introduced and a horizontal attitude autonomous measurement scheme based on Kalman filter is proposed.The method of extracting the instantaneous linear acceleration of the ship is proposed by analyzing the actual data of a large number of ship navigation accumulated before the laboratory.The practical feasibility of the scheme is confirmed.The design scheme of the Kalman filter is given.Then,the selection of the MEMS inertial device is determined by simulation,and the calibration experiment is designed according to the calibration mathematical model of the MEMS device.After that,this paper elaborates on the realization of the motion attitude reference system.The functional module is the basic unit,and the block design and verification are carried out.According to this idea,the navigation calculation platform,power conversion module,DSP peripheral circuit,FPGA peripheral circuit,Design of storage modules and external communication modules.Subsequently,the software design of the DSP side is discussed,and the overall flow diagram of the software is analyzed and analyzed.The dual-core information interaction function between FPGA and DSP is realized,and the DSP-side software is written by CCS.Finally,the system experiment was carried out for the whole system.Firstly,in order to compensate the error caused by the non-orthogonality in the device installation process,the turntable rate experiment,the position experiment,the zero position experiment,and then the static performance was verified to verify the system performance.Test and rocking dynamic test,the test results have reached the expected level of design.Finally,in order to verify the reliability of the system,high and low temperature work tests and vibration tests were carried out.The system has certain reliability,can work normally under the high and low temperature environment set by the experiment,and can still work normally after undergoing the vibration test.