基于STIM300的姿态测量系统设计

Design of Attitude Measurement System Based on STIM300

针对微机电系统-惯性测量单元(micro-electro-mechanical system-inertial measurement unit,MEMS-IMU)初对准困难的问题,设计了一种利用地球重力加速度与外部输入航向角数据相融合的方法计算静态四元数,完成初对准。采用动态四元数解算载体姿态,使用加速度自适应姿态误差修正算法进行修正。使用LabVIEW语言设计基于STIM300的姿态解算与三维显示软件,通过向STIM300发送指令,完成对STIM300所反馈的导航信息的采集、分类、处理、保存。采用LabVIEW与MATLAB混合编程,基于LabVIEW建立了载体姿态监控系统可视化界面。该界面设计主要包括上位机与下位机实时通讯设计、三维姿态可视化再现设计、姿态初对准等。该界面实现了数据可视化、三维模型可视化和人机之间信息交互,以坐标变化的形式显示载体运动轨迹。验证表明,系统可以有效完成初对准,姿态、位置精度可达预期要求,软件运行稳定,功能丰富,调试简易,人机交互方便。

A method for fusing the earth’s gravitational acceleration with external input heading angle data is designed in this paper.Static quaternion,complete initial alignment.A dynamic quaternion is used to calculate the attitude of the carrier,and the acceleration adaptive attitude error correction algorithm is used for correction.Use LabVIEW language to design the posture calculation and 3 D display software based on STIM300,and complete the collection,classification,processing and storage of the navigation information fed back by STIM300 by sending instructions to STIM300.Using LabVIEW and MATLAB mixed programming,a visual interface of the carrier attitude monitoring system is established based on LabVIEW.This interface realizes data visualization,3 D model visualization and information interaction between humans and machines,and displays the carrier’s movement trajectory in the form of coordinate changes.