基于ARM处理器的航姿参考系统的设计

The Design for AHRS with ARM

基于ARM处理器,以低精度MEMS传感器组件为基础,研究与设计了一种微型MEMS姿态与航向参考系统(AHRS)。首先,基于ARM处理器,针对某型号微小型直升机搭建了姿态与航向系统的系统框架,并根据实际应用,进行了系统的工程化设计。其次,基于状态方程,进行了扩展卡尔曼滤波,提高了系统的精度与可靠性。最后,介绍了系统的软硬件设计。

Based on the MEMS parts,an AHRS is researched and implemented on the ARM platform.First,the system architecture of AHRS on ARM platform aim at some types of mini-helicopter is deueloped.the system integration with the concern of practical application is carried out.Second,the precision and reliability of the system is improved with the extended Kalman filter.In the end,the system design of hard and soft are given.