基于MEMS的微小型嵌入式航姿系统的实现-检测技术与自动化装置专业论文.docxVIP

南京航空航天大学硕士学位论文 摘 要 微小型无人机由于小型化和低成本的优点，在军事和民用领域得到了快速发展。航姿系统 的稳定是确保无人机飞行安全的前提，而传统的无人机航姿系统并不适合微小型无人机使用， 因此研制适合其使用的小型化、低成本和低功耗的嵌入式航姿系统具有重要的理论价值和实用 价值。 针对 MEMS 陀螺漂移导致姿态发散和高动态环境下加速度计/磁力计测姿误差大的问题， 构建了基于 MEMS 陀螺/加速度计/磁力计/GPS 组合的嵌入式航姿系统。在保证航姿系统性能的 前提下，以小型化、低功耗和低成本为设计原则，采用“DSP+MEMS 惯性元件”架构作为硬 件平台，分析设计了 SPI、SCI、SRAM 和 FLASH 扩展电路，并进行了相应驱动设计。在硬件 平台上研究了四元数扩展卡尔曼滤波算法，利用该算法进行姿态融合，有效抑制 MEMS 陀螺漂 移导致的姿态发散；通过采用 GPS 速度信息实时补偿加速度计输出的方法，有效解决高动态环 境下加速度计/磁力计测姿误差大的问题。 采用数字仿真验证了四元数扩展卡尔曼滤波算法的性能，有效解决了姿态发散问题；通过 半物理仿真实验证明了所设计的航姿系统能够满足微小型无人机的要求，实现了以小型化、低 功耗和低成本构建满足微小型无人机要求的航姿系统的目标。为后续进行微小型无人机飞行控 制的研究奠定了坚实基础。 关键词：微小型无人机，航姿系统，MEMS 陀螺，DSP，扩展卡尔曼滤波算法 i 基于 基于 MEMS 的微小型嵌入式航姿系统的实现 ii ii ABSTRACT Due to the advantage of micromation, small size and low cost, Micro Unmanned Aerial Vehicle (MUAV) has developed rapidly in the military and civilian areas. The stability of attit ude heading system is the premise of Unmanned Aerial Vehicle’s safe flight, but the tradition al attitude heading system is not for MUAV. Thus, to develop the attitude heading system wit h micromation, small size and low cost for MUAV is to solve. Aiming at attitude divergence and attitude error from accelerometers and magnetometer, t he attitude heading system based on MEMS sensors, such as gyroscope, accelerometer, magne tometer and GPS has been designed and implemented. On the premise of performance the ha rdware system of MEMS sensors +DSP has been designed based on SPI, SCI, SRAM and F LASH and the driver has been designed. The extend kalman filter based on quaternion is use d as a theoretical basis. The extend kalman filter has been used for attidude information fusi on to prevent attitude divergence.The gravitational vector is obtained to get horizontal attitude by compensating the outputs of accelerometers with GPS’s velocity aiming at the attitude err or from accelerometers and magnetometer. The modeling and simulation has showed that the extend kalman filter can effectively im prove the system accuracy and stability. The