基于地磁场的水平方位角测量研究-测试计量技术及仪器专业论文.docxVIP

万方数据 万方数据 摘 要 摘 要 融合当今先进的传感器与微电子技术，电子罗盘为各种需要精确导航的应用场合 提供了高性价比、高可靠性的解决方案。电子罗盘无论在军用或民用领域均有重要的 实用价值，其市场需求与发展潜力均十分可观，因而近年来国内外众多厂家、科研机 构与高校都投入了研制电子罗盘的行列。 电子罗盘的研制涉及到地磁场检测、信号调理、模数转换、数字信号处理、罗盘 载体姿态与航向解算、数据显示或传送等各方面，需要有相应的理论研究与实践加以 支持，这正是本文研究的出发点与目的。 为保证和提升电子罗盘的性能，本文主要进行了以下几方面的工作： ⑴对数据采集流程及数字滤波算法进行了设计，以获得可靠的地磁场与重力加速 度数据。 ⑵分析了如何根据地磁场与重力加速度数据求解罗盘载体的姿态与航向，并通过 使用 CORDIC（坐标旋转数字计算机）算法提高这一计算过程的效率。 ⑶运用改进的 12 姿态法对电子罗盘的传感器误差进行校正。 ⑷验证了基于椭圆假设的罗差校正算法。 ⑸对基于 NMEA0183 标准的 HMR3000 电子罗盘通信协议进行了详细解析，并 在电子罗盘样机中实现与该协议兼容的串口通信功能。 最后，对采用本文研究成果的电子罗盘样机进行了与 HMR3000 的对比测试。实 验结果显示，该样机在±60°倾角范围内的倾角测量精度优于 1°，水平姿态下航向测 量精度优于 1.5°，并具有完善的串行通信功能，具备良好的实用性。 关键词：电子罗盘；磁阻传感器；加速度传感器；CORDIC 算法；NMEA0183. – I – Abstract Abstract With the latest and most advanced technology of sensors and microelectronics, electronic compass provides a cost-effective, highly reliable solution for a variety of applications that require precise navigation. Electronic compass has important value both in military and civilian areas, and it also has enormous market demand and potentiality. Thus a number of manufacturers, research institutions and universities, both domestic and overseas, have been engaged in developing electronic compass. The development of electronic compass is related to various fields, e.g. geomagnetic field detecting, signal conditioning, analog-to-digital converting, digital signal processing, solutions to the carrier’s tilt and heading, data display and transmission, etc. It needs the supports of theoretical research and experiment, and that is the basis and aim of this thesis. To ensure and enhance the performance of the electronic compass, this thesis has mainly researched and discussed the following issues. ⑴ Design of sampling process and digital filtering algorithm, for the acquisition of reliable geomagnetic and gravity data. ⑵ Solutions to the carrier’s tilt and heading according to geomagnetic and gravity data, and the use of CORDIC (Coordinate Rotation Digital