Research On Precision And Frequency Response Characteristics Of Attitude Detection System Based On MEMS Sensor

The attitude detection system based on MEMS sensor is an inertial measurement device which can obtain the attitude angle of moving carrier in real time.At present,it has been widely used in civil consumer electronics,industrial control and aerospace and other fields.With the continuous extension and expansion of the application field,higher requirements are put forward for the performance of the attitude detection system.Firstly,this paper introduces the research background and significance of attitude detection system.According to the advantages and disadvantages of the existing attitude detection system,a large number of domestic and foreign literatures have been investigated,and the research status of the multi-sensor combined attitude measurement scheme,data fusion algorithm,sensor calibration method and system frequency response characteristics in the attitude detection system is analyzed and summarized.Because in most application fields,the solution accuracy and frequency response characteristics of attitude detection system are the top priority of application selection,so this paper proposes the research topic of the accuracy and frequency response characteristics of attitude detection system based on MEMS sensor.Then this paper elaborates the basic theoretical knowledge in attitude detection technology.The common coordinate system,definition of attitude angle and attitude representation method of attitude detection system are introduced.At the same time,the attitude calculation principle of accelerometer,gyroscope and magnetic sensor is explained,and the design idea of Kalman filter algorithm and complementary filter algorithm is introduced in detail.And the practical application in the attitude calculation process.In addition,according to the various errors of the sensor,different calibration compensation methods are designed for the accelerometer,gyroscope and magnetic sensor,so as to improve the output accuracy of the sensor.Then this paper designs an attitude detection system based on MEMS sensor according to the application requirements of miniaturization,low power consumption and high precision in the field of civil consumption.The system uses STM32 as the microcontroller unit,adopts the combined attitude measurement scheme of the six-axis inertial sensor ICM-42605 and the magnetic sensor HMC5883 L to obtain the acceleration,angular velocity and magnetic field information of the carrier,and combines the data fusion algorithm to calculate the attitude angle of the moving carrier.Finally,it is transmitted to the host computer through the NRF24L01 wireless transmission module for real-time display.Finally,the calibration experiment,static stability experiment,dynamic characteristic experiment and frequency response experiment of the designed attitude detection system are carried out through the experimental platform.The calibration experiment verifies the calibration effect of the calibration compensation algorithm by comparing the sensor output before and after calibration.The experimental results show that the calibration compensation algorithm can improve the output accuracy of the sensor to a certain extent;the static stability experiment and the dynamic characteristic experiment are used to compare the Kalman filter and the complementary filter respectively.The system stability of the algorithm in the static state of the system and the system dynamic characteristics in the process of uniform motion,the experimental results show that the static root mean square error of the system attitude angle using the Kalman filter algorithm is less than 0.05°,the maximum deviation angle is less than 0.3°,and the uniform speed The output linearity of the attitude angle during the movement process is less than 0.4%,the static root mean square error of the system attitude angle using the complementary filtering algorithm is less than 0.08°,the maximum deviation angle is less than 0.7°,and the output linearity of the attitude angle during the uniform motion process is less than 1%.Finally,in view of the different requirements for the system frequency response characteristics of the attitude detection system in different application fields,a test method for the frequency response characteristics of the attitude detection system is proposed,and the system frequency response using Kalman filtering and complementary filtering algorithms are compared through experiments.The experimental results show that the frequency response characteristics of the system using the complementary filtering algorithm are better.