基于地磁和微惯性器件组合的姿态测量系统分析-analysis of attitude measurement system based on combination of geomagnetism and micro inertial devices.docxVIP

AbstractWiththedevelopmentofmagneticdetectiontechnologyandthecontinuous improvementinthegeomagneticfieldmodel,themeasurementofgeomagnetic informationhashigheraccuracy.Withtheadvantagesofgeomagneticfieldand magneticsensors,suchasnoaccumulativeerrorsandquickresponse,integrating geomagnetismandmicroinertialmeasurementunittoestimateattitudecansolvethe problemofaccumulativeerrorsfortheinertialapparatus.Soamethodforattitude estimationwithhighaccuracy,smallsize,lowcostandanti-overloadingcanbe achieved.Theintegratedattitudedetectionbasedonthegeomagnetismdetectionhas beenasignificantbranchofcarrierattitudedetectionandcanbewidelyappliedinthe navigationsystem,spinprojectilerotatingattitudedetectionandmobilecommunication terminal.Thispaperstudiedongeomagnetism/microinertialapparatusintegrated attitude detection.First,thispaperstudiedtraditionalinertialattitudedetection,geomagneticfield basictheory,andgeomagnetismattitudedetection.Byanalyzingtheworkingprinciple anderrorsourceofthemicroinertialapparatusandmagneticsensors,thepaperbuildedaerrormodelofstatevariables，andthenderivedtheKalmanfilterstateequationandobservationequationbasedontheadditivequaternionerrormodel.Thepaperalso studiedtheupdatingalgorithmsofquaternionandmadethesimulationanalysis.Finally, itchosefourthorderRonge-Kuttamethodasthequaternionupdatingalgorithm.The paperalsobuiltthesimulation-basedmathematicalmodelofsensorsandmadethe simulationexperimentofgeomagnetism/microinertialapparatusintegratedattitude detection.We proposed an attitude detection scheme in the state of accelerated motion.Finally,thepaperconductedexperimentonthesimulationturntable.Accordingto existingconditions,wedesignedexperimentalscheme,chosethepropersensors accordingtotheresultofsimulationexperiment,anddesigned the sensor data collecting software.Themeasureddatabysensorwasanalyzedandprocessed,andfocusedonthe compensationmethodofthemeasuredmagneticfielddata.Wealsoconductedthe actualattitudedetection,andanalyzedthefactorsaffectingtheexperimentresul