基于MEMS器件的旋转调制式航姿参考系统设计

徐烨烽; 吕妍红; 仇海涛

基于MEMS器件的旋转调制式航姿参考系统设计

1.
北京航空航天大学仪器科学与光电工程学院, 北京 100191
2. 北京航天控制仪器研究所, 北京 100854

详细信息

作者简介:
徐烨烽(1982-),男,浙江上虞人,博士生,yfxu@asee.buaa.edu.cn.

通讯作者:
徐烨烽

中图分类号: V241.6
计量
- 文章访问数: 3463
- HTML全文浏览量: 259
- PDF下载量: 1178
- 被引次数: 0
出版历程
- 收稿日期: 2009-10-09
- 网络出版日期: 2010-11-30

Design of rotation modulation AHRS based on MEMS sensor

1.
School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
2. Beijing Aerospace Control Device Institute, Beijing 100854, China

More Information

Corresponding author: Xu Yefeng

摘要

摘要: 为实现中精度、低成本的航姿测量系统,提出了一种基于低精度MEMS(Micro Electronic Mechanical System)陀螺旋转调制技术的解决方案.系统采用四元数及三子样法进行航姿解算,可选用全自主及快速两种对准模式.全自主对准采用基于速度观测的Kalman滤波方案,利用30(°)/h的MEMS陀螺可实现优于5°的航向对准精度;快速对准时航向角由磁场计提供,经磁罗差补偿后航向精度优于0.4°.静态及动态实验结果表明:旋转调制可将MEMS陀螺的精度提高30倍左右,系统在1h内的航姿保持精度优于1°.
- 航姿参考系统 /
- 微机电系统 /
- 初始对准 /
- 磁罗盘 /
- 罗差
Abstract: In order to achieve a high-precision, low-cost attitude and heading reference system (AHRS),the approach of using rotation modulation technology based on low-performance micro electronic mechanical system (MEMS) gyro was proposed. Quaternion and three sub-sample algorithms were used to calculate the heading and attitude angles. Two kinds of alignment modes, self alignment and rapid alignment could be alternated. The self alignment was accomplished by Kalman filter based on velocity observation. The heading alignment accuracy would be better than 5° by using MEMS gyro with the drift about 30(°)/h. When the rapid alignment solution was used, the heading was provided by magnetic compass and the accuracy would be better than 0.4° when the magnetic compass deviation was compensated. Static and dynamic experiments results show that the rotation modulation approach can improve the precision of MEMS gyro by about 30 times, the output accuracy of the system is better than 1° within 1 h.
- attitude and heading reference system /
- micro electronic mechanical system /
- initial alignment /
- magnetic compass /
- magnetic deviation

HTML全文

参考文献(1)

[1] 沈晓蓉,张海,范耀祖,等.微捷联姿态系统的一种扩展卡尔曼滤波方法[J].北京航空航天大学学报,2007,33(8):933-935 Shen Xiaorong,Zhang Hai,Fan Yaozu,et al.Extended Kalman filter method for micro-inertial strapdown attitude determination system[J].Journal of Beijing University of Aeronautics and Astronautics,2007,33(8):933-935(in Chinese) [2] Yang Yong,Miao Lingjuan. Fiber-optic strapdown inertial system with sensing cluster continuous rotation[J].IEEE Transaction on AES,2004,40(4):1173-1178 [3] Zhang Ling,Liu Jianye,Lai Jizhou. Rotating fiber optic gyro strap-down inertial navigation system with three rotating axes [J].Transactions of Nanjing University of Aeronautics & Astronautices,2008,25(4):289-294 [4] 王锦瑜,冯培德.激光陀螺速率偏频系统的分析与研究[J].航空学报,2001,22(1):46-50 Wang Jinyu,Feng Peide.Research on rate-bias system of laser gyro[J].Acta Aeronautica et Astronautica Sinica,2001,22(1):46-50(in Chinese) [5] 付旭,周兆英. MEMS自动驾驶仪中的多传感器误差补偿[J].清华大学学报:自然科学版,2008,48(5):804-807 Fu Xu,Zhou Zhaoying.Error compensation with multiple sensors in a MEMS autopilot[J]. Journal of Tsinghua University:Science and Technology,2008,48(5):804-807(in Chinese) [6] Crassidis J L,Lai K L,Harman R R. Real-time-attitude-independent three-axis magnetometer calibration[J]. Journal of Guidance,Control and Dynamics,2005,28(1): 115-120 [7] 郝振海,黄圣国.基于差分磁罗盘的组合航向系统[J].北京航空航天大学学报,2008,34(4):377-380 Hao Zhenhai,Huang Shengguo.Integrated heading system based on differential magnetic compasses[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(4):377-380(in Chinese)

施引文献

资源附件(0)

访问统计