|Table of Contents|

Design of Horizontal Attitude Estimation Using MEMS Inertial Sensor(PDF)

南京师范大学学报(工程技术版)[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2015年02期
Page:
20-
Research Field:
电气与电子工程
Publishing date:

Info

Title:
Design of Horizontal Attitude Estimation Using MEMS Inertial Sensor
Author(s):
Li Yongjian1Zhao Zuoxi2Gao Junwen1
(1.Department of Electrical,Guangdong AIB Polytechnic College,Guangzhou 510507,China) (2.College of Engineering,South China Agricultural University,Guangzhou 510642,China)
Keywords:
MEMS inertial sensordata fusionkalman filterattitude angleAHRS
PACS:
TP212.9
DOI:
-
Abstract:
In order to get effective attitude information for inertial navigation,this paper presents a scheme for horizontal attitude estimation based on MEMS inertial sensor fusion. On this basis,a horizontal attitude measurement system is designed,among which their main features are:monitoring attitude information by fusing one tri-axial accelerometer and one gyroscope integrated in ADIS16300; calculating attitude angles by using ARM7v7 processor Cotex-M3. A practical algorithm based on Kalman filter is then designed whose system equation is derived from MEMS gyros outputs and measurement constructed by accelerometers outputs. Finally,experimental results show that the proposed fusion method gives quite accurate attitude information of the controlled object and the average error of attitude measurement is less than 1°.

References:

[1] 高宗余,李德胜. 多MEMS传感器姿态测量系统的研究[J]. 电光与控制,2010,17(3):68-70.
Gao Zongyu,Li Deshengd. Attitude measurement system based on multiple MEMS sensors[J]. Electronics Optics and Control,2010,17(3):68-70.(in Chinese)
[2]Lu Junjie,Zhou Jun,Lu Xiaodong,et al. The measurement correction of MEMS gyroscope based interlaced Kalman filter[J]. Advanced Materials Research,2011,301/303:1 083-1 088.
[3]朱荣,周兆英. 基于MEMS的姿态测量系统[J]. 测控技术,2002,21(10):6-13.
Zhu Rong,Zhou Zhaoying. A MEMS-based attitude reference system[J]. Measurement and Control Technology,2002,21(10):6-13.(in Chinese)
[4]David H Titterton,John L Weston. Strapdown Inertial Navigation Technology[M]. London,United Kingdom:Peter Peregrinus Ltd on behalf of the Institute of Electrical Engineers,2004:280-360.
[5]赵祚喜,罗锡文,李庆,等. 基于MEMS惯性传感器融合的水田激光平地机水平控制系统[J]. 农业工程学报,2008,24(6):119-124.
Zhao Zuoxi,Luo Xiwen,Li Qing,et al. Leveling control system of laser-controlled land leveler for paddy field based on MEMS inertial sensor fusion[J]. Transactions of the CSAE,2008,24(6):119-124.(in Chinese)
[6]李仁,曾庆双,陈希军. 一种低成本MEMS惯性传感器应用技术研究[J]. 传感技术学报,2009,22(11):1 670-1 673.
Li Ren,Zeng Qingshuang,Chen Xijun. Research on application technology of low cost MEMS INS sensor[J]. Chinese Journal of Sensors and Actuators,2009,22(11):1 670-1 673.(in Chinese)
[7]李雪莲,孙尧,莫宏伟. 微惯性传感器零点漂移融合滤波算法研究[J]. 传感器与微系统,2009,28(6):50-53.
Li Xuelian,Sun Yao,Mo Hongwei. Research on null drift fusion algorithm of micro inertial sensors[J]. Transducer and Microsystem Technologies,2009,28(6):50-53.(in Chinese)
[8]张谦,裴海龙,罗沛. 基于MEMS器件的姿态航向参考系统设计及应用[J]. 计算机工程与设计,2007,28(3):631-634.
Zhang Qian,Pei Hailong,Luo Pei. Design and implementation of AHRS based on MEMS units[J]. Computer Engineering and Design,2007,28(3):631-634.(in Chinese)
[9]陈永冰,钟斌. 惯性导航原理[M]. 北京:国防工业出版社,2007:13-232.
Chen Yongbing,Zhong Bin. Principles of Inertial Navigation[M]. Beijing:National Defence of Industrial Press,2007:13-232.(in Chinese)
[10]孙冬梅,田增山,韩令军. 捷联惯导系统中四元素法求解姿态角仿真模拟[J]. 弹箭与制导学报,2009,29(1):51-60.
Sun Dongmei,Tian Zengshan,Han Lingjun. Simulation on quaternion calculate attitude angle of the strapdown inertial navigation system[J]. Journal of Projectiles,Rockets,Missiles and Guidance,2009,29(1):51-60.(in Chinese)
[11]朱启举,秦永元,梅春波,等. 基于MEMS惯性器件的水平姿态解算方案设计[J]. 弹箭与制导学报,2013,33(5):35-40.
Zhu Qiji,Qin Yongyuqn,Mei Chunbo,et al. Horizontal attitude estimation using MEMS-based inertial sensors[J]. Journal of Projectiles,Rockets,Missiles and Guidance,2013,33(5):35-40.(in Chinese)
[12]屈重君,雷宝权,陈璞,等. 无位置输入的民机姿态航向误差修正算法[J]. 传感技术学报,2008,21(11):1 862-1 866.
Qu Zhongjun,Lei Baoquan,Chen Pu,et al. Error correction algorithm of attitude and heading for civil airplane without position inputs[J]. Chinese Journal of Sensors and Actuators,2008,21(11):1 862-1 866.(in Chinese)
[13]Analog Devices,Inc. ADIS16300 Datasheet[DB/OL].(2009-04)[2010-01-28]. http://www. analog. com/static/imported-files/d ata_sheets/ADIS16300.pdf.
[14]ARM Limited. CortexTM-M3 Technical reference manual[EB/OL].(2008-06)[2014-04-28]. http://wwww.arm.com.
[15]Jay A. Farrell. Aided Navigation:GPS with High Rate Sensors[M]. New York:Mc Graw Hill,2006:35-60.
[16]Crossbow Technology,Inc. AHRS500GA-Series User’s Manual:Revision B[M/OL]. [2014-07-30]. http://www.moog-crossbow.com.

Memo

Memo:
-
Last Update: 2015-06-20