基于MEMS传感器的高精度电子罗盘研究

High precision electronic compass based on MEMS sensor

针对电子罗盘易受到干扰和成本高等问题,对电子罗盘结构、倾角补偿、误差分析、误差校正等方面进行了研究,对电子罗盘在实际应用中的误差来源和校正算法进行了归纳,提出了基于STM32 ARM Cortex-M3内核单片机以及MEMS传感器构建电子罗盘系统,开展了电子罗盘的误差分析,提出了电子罗盘误差模型,提出用卡尔曼滤波算法对磁阻传感器和加速度计进行了数据融合与滤波,在利用加速度计计算倾角的基础上对电子罗盘进行了倾角补偿,利用Matlab处理上位机采集到的电子罗盘数据,进行了电子罗盘的输出角度和精度试验。研究结果表明,该电子罗盘可获得高精度的静态姿态角。

Aiming at realizing electronic compass vulnerable to interference and high cost, electronic compass structure, tilt compensation, error analysis and correction were researched, inductive error sources and correction algorithms of electronic compass, and the electronic compass system based on STM32 ARM Cotex-M3 and MEMS（Micro-Electro-Mechanical System） sensor was proposed. After the analysis of electronic compass error sources, the electronic compass error model was established. Kalman filtering algorithms was presented to collecting and integration of magnetoresistive sensor and aecelerometer data. On the basis of accelerometer tilt data compensated the electronic com- pass, use MATLAB handle electronic compass from PC, the attitude angle and precision of electronic compass were tested. The results indi- cate that electronic compass have high-precision and static attitude angle.