基于低成本MEMS器件的捷联航姿系统设计

Design of AHRS Based on Low-Cost MEMS

针对军事和工程领域对低成本、微小型航姿系统的迫切需求,介绍了自行设计的基于低成本MEMS器件的航姿系统,深入研究了构建该系统的关键技术。针对MIMU的性能特点及核心处理器的运算速度,给出了磁传感器的补偿算法,采用了基于等效旋转矢量的姿态解算方法,并应用了降阶卡尔曼滤波器。通过移植μC/OS-Ⅱ实时操作系统,增强了系统的实时性。实验结果表明,所设计的航姿系统实时性好,精度可达要求,具有广阔的应用前景。

To satisfy the eager requirements of low-cost and miniaturization attitude heading reference system（AHRS）in the military and technical fields,a self-developed special MEMS-based is introduced,the key technologies of which are proposed.Magnetic sensor aided attitude error correction is proposed,rotation vector algorithm is adopted,and low-order Kalman filter is designed,all of above are based on the MIMU performance and the core processor characteristic.An embedded RTOS-based software system is transplanted.Experimental results show that the AHRS works in real time and steadily,with higher precision,which has vast of applied foreground.