惯性定向装置计算机控制系统设计与实现

On Design of Computer Control System in Inertial Directional Device

针对惯性定向装置计算机控制系统的准确控制和快速解算,搭建了一个全新的计算机控制系统.以飞思卡尔16位单片机MC9S12XEP100为主控芯片,辅以不同功能的的硬件电路和软件算法,实现了惯性定向装置的信号采集、串口通讯、故障检测和误差补偿.同时建立了加速度计和陀螺仪的数学模型来分析惯性定向装置可能存在的误差,并从原理出发提出了相应的补偿和标定方法.理论分析和实验结果证明,该惯性定向装置的单点重复性好、寻北精度高、寻北时间较短,满足精确快速寻北的要求.

According to the accurate control of the computer control system of inertial orientation device and quick solution, a new computer control system has been set up in this paper. With the Freescalel6 MCU MC9S12XEP100 as the main control chip and the different functions of the hardware circuit and software algorithm, inertial navigation device signal acquisition, serial communication, fault detection and error compensation have been realized. At the same time the mathematical model of accelerometer and gyroscope has been established to analyze the errors of inertia and directional device. Then, the corresponding compensation and calibration method have been put forward from the perspective of the principle. Theoretical analysis and experimental results show that the inertial orientation device of single point repeatability, north seeking high precision north seeking time is short, to meet the precise requirements of the rapid north seeking.