Research On Accuracy Of Attitude Detection System Based On Multi-sensor

The attitude detection system is a new type of inertial measurement equipment,which mainly uses sensors and other inertial devices to measure the attitude information of the carrier.At the same time,it has the advantages of small size,low power consumption,low cost and high integration.Due to the rapid development of MEMS inertial sensor and magnetoresistive sensor technology,a solid foundation has been laid for the realization of a multi-sensor attitude detection system.However,the accuracy of MEMS inertial sensors is not high,which leads to low accuracy of the attitude detection system.Therefore,this paper considers error compensation through software to improve the accuracy of the system.The thesis mainly studies the basic theory of attitude detection,introduces the principles of attitude calculation algorithms and differential equations,chooses the quaternion method to calculate the attitude of the carrier,and studies the principles and applications of several data fusion algorithms.Then the overall design scheme of the system is given,and the extended Kalman filter algorithm is selected as the data fusion algorithm in this article.In this paper,a low-cost,miniaturized and high-precision attitude detection system is designed.The six-axis MEMS inertial sensor BMI055 and the magnetoresistive sensor HMC5883L are selected as the sensitive units of the system,and the STM32F103T8U6 is used as the microprocessor to collect the output of the sensor in real time.data.Use the calibration method to calibrate the data collected by the sensor,and combine the high-precision data fusion algorithm to fuse the calibrated data of the sensor to improve the measurement accuracy of the system.After that,the posture information of the tested carrier obtained through the fusion is sent to the upper computer through the serial port for real-time display.Finally,the stability,static and dynamic performance of the whole system are tested through experiments.The experimental results show that the system has good stability performance,can realize the accurate output of the attitude angle in the static state,the system has high precision,the tracking performance of the system is good in the dynamic state,the real-time performance is good,and it meets the expectations of the design.