微小型无人机用微磁数字罗盘集成系统的设计

 针对现有微磁数字罗盘成本高、输出频率低、动态定姿时易发散等问题，结合微小型无人机(MUAV)导航与控制系统的组成特点，设计了一种利用MUAV机载微惯性测量单元(MIMU)中的天向陀螺输出判断无人机的运动状态，采用MIMU中的3轴加速度计组件测量的地球重力矢量，配合3轴磁阻传感器测量的地球磁场矢量，共同进行姿态确定的微磁数字罗盘集成系统。对传统的环境干扰磁场校正方法进行了完善与验证，使之适合于空间三维定姿。试验结果表明：系统总体性能良好，航向精度可达0.5°，成本为同类产品的1/5，输出响应可达50 Hz，满足应用于MUAV导航控制系统的微磁数字罗盘的高精度、低成本和实时性的要求。

Design of Micro Magnetic Compass Integration System Used on MUAV

On account of high cost, low response frequency and easy divergence when attitude is determined in dynamic movement, the existing micro magnetic compass is not accurate enough to be used for the navigation and control system of micro unmanned aerial vehicle (MUAV). To overcome these shortcomings, an integrated system, micro magnetic compass, based on the characteristics of MUAV is designed and implemented. Through estimating the state of MUAV utilizing the z direction gyro in micro inertia measurement unit (MIMU), this system is proved to be capable to determine the attitude by both gravity vector from acceleration meters and magnetic field vector from magnetic resistance sensors. A tridimensional compensating method for the magnetic disturbance is also verified. The experiments show that this system, with good collective performance, 0.5° heading accuracy, 1/5 cost and 50 Hz response frequency, is able to meet the requirements of extraordinary precision, low cost and real time communication.