Micro-strapdown altitude heading reference system and working method thereof

Abstract

The invention relates to a micro-strapdown altitude heading reference system and a working method of the micro-strapdown altitude heading reference system. The system comprises a data acquisition module, a data processing resolving module and a peripheral communication interface module, wherein the data acquisition module integrates a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetic resistance sensor and an SPI (Serial Peripheral Interface) into an integrated micro-electronic mechanical system sensor; the data processing resolving module adopts a 32-bit ARM (Advanced RISC Machine) microcontroller; and the peripheral communication interface module consists of a serial port level switching chip, an RS-232 interface, a CAN (Controller Area Network) transceiver and a CAN interface. The working method of the system comprises the working steps as follows: the system is electrified and initialized; the system is self-tested; a magnetic field is self-calibrated; initial alignment is conducted; measured attitudes are combined: resolving the information of attitude headings according to initial three-dimensional altitude and altitude resolving algorithm of the strapdown altitude heading reference system, and resolving the three-dimensional magnetic altitude angle according to the compensated magnetic field information and acceleration information, conducting the information merging algorithm and finally obtaining the stable altitude heading reference information; and the altitude heading reference information is sent to application equipment.

Description

1. Technical field [0001] The invention belongs to the technical field of inertia, in particular to a miniature strapdown attitude system and a working method thereof. 2. Background technology [0002] In the fields of spacecraft, missile, vehicle navigation and satellite, robot, platform attitude control and other fields, it is necessary to use the attitude system to measure the attitude information of the carrier. At present, the strapdown attitude system is developing rapidly. The strapdown attitude system refers to a system that directly connects inertial measurement components (gyroscopes, accelerometers, etc.) to the carrier and uses a mathematical platform to calculate the attitude information of the carrier. The strapdown attitude system relies on algorithms to establish a navigation coordinate system, that is, the platform coordinate system exists in the form of a mathematical platform, which omits the complex physical entity platform, so it is more and more widely ...

AI Technical Summary

Problems solved by technology

However, the existing strapdown attitude system is not highly integrated, the volume is too large, and the cost of the inertial measurement components used is too high. It does not take into account how to use the inherent magnetic field around the earth to compensate when the external signal (such as GPS, etc.) fails. The attitude accuracy makes it work stably for a long time, and the concealment is not strong. Therefore, designing a strapdown attitude system with small size, high integration, good performance, low cost and strong adaptability has become the development of attitude system. trend

[0003] Document 1: The Chinese utility model patent "Combination Measuring Device for Heading and Attitude" (publication number CN 201402140Y, publication date: February 10, 2010) discloses a high-reliability and low-cost combined heading and attitude measuring device, which is controlled by signal processing It is composed of a calculation module, an inertial sensor combination and a three-axis magnetic sensor. The sensor module is composed of two independent parts: an inertial sensor combination and a three-axis magnetic sensor. Low, data transmission is not stable enough

[0004] Document 2: The Chinese invention patent "A Strapdown Attitude System Based on Fiber Optic Gyroscope" (publication number CN 102135430A, published on July 27, 2011) discloses a highly integrated small strapdown attitude system. The sensor module of this system is composed of a gyroscope and a digital dual-axis inclinometer. In the process of calculating the attitude information, the calculation algorithm is an integral operation, and various errors will also undergo integral calculations, resulting in system data calculation errors. The accuracy of the attitude information is getting lower and lower as time accumulates, oscillates and diverges constantly; the gyroscope of the inertial measurement sensor is an expensive fiber optic gyroscope, which makes the attitude system cost relatively high; the peripheral communication interface of the device only has the CAN bus , not rich enough, limited application

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