基于ME MS的姿态测量系统

A MEMS-Based Attitude Reference System

载体的姿态测量是载体进行预计轨迹运动的基础。姿态测量有多种方式 ,其中采用磁场传感器测量大地磁场确定航向的方法由于结构简单、体积小、重量轻、启动迅速、成本低等特点 ,自古至今一直得到应用。本课题在此基础上 ,利用微机电系统 (MEMS)技术 ,设计了由微机电传感器组合而成的微型方位水平仪 ,该系统由三轴微加速度计和三轴微磁强计组成。利用大地磁场和重力场在地理坐标系和载体坐标系之间的方向余弦转换进行绝对角度解算得到姿态角。该微型姿态测量系统体积小、重量轻、功耗低、启动快、无长期漂移 ,可进行全姿态动态连续测量 ,测角精度为± 0 .5°(俯仰和滚转 )、± 0 .7°(航向 )。

Attitude detection is the basis of guidance to vehicle motion.Among various schemes,magnetic sensing has been widely applied by its distinct characteristics such as simple architecture,small size,lightweight,fast start up,low cost.Ground on this view,a Micro Electro Mechanical System (MEMS) based azimuth level detector composed of 3 axis micro accelerometer and 3 axis micro magnetometer is designed.The reference attitudes are computed out by free integral algorithm,which is based on the orientation cosine transform between the magnetic field and gravity field in both of geography coordinate and vehicle coordinate. This MEMS based attitude reference system takes advantages of small size,lightweight,low consumption,fast start up and without long term drift.It can implement full scale attitude detection with ±0.5° accuracy for tilt and ±0.7°for heading.