基于MEMS器件的旋转调制式航姿参考系统设计

为实现中精度、低成本的航姿测量系统,提出了一种基于低精度MEMS(Mi-cro Electronic Mechanical System)陀螺旋转调制技术的解决方案.系统采用四元数及三子样法进行航姿解算,可选用全自主及快速两种对准模式.全自主对准采用基于速度观测的Kalman滤波方案,利用30(°)/h的MEMS陀螺可实现优于5°的航向对准精度;快速对准时航向角由磁场计提供,经磁罗差补偿后航向精度优于0.4°.静态及动态实验结果表明:旋转调制可将MEMS陀螺的精度提高30倍左右,系统在1 h内的航姿保持精度优于1°.

Design of rotation modulation AHRS based on MEMS sensor

In order to achieve a high-precision, low-cost attitude and heading reference system (AHRS),the approach of using rotation modulation technology based on low-performance micro electronic mechanical system (MEMS) gyro was proposed. Quaternion and three sub-sample algorithms were used to calculate the heading and attitude angles. Two kinds of alignment modes, self alignment and rapid alignment could be alternated. The self alignment was accomplished by Kalman filter based on velocity observation. The heading alignment accuracy would be better than 5° by using MEMS gyro with the drift about 30(°)/h. When the rapid alignment solution was used, the heading was provided by magnetic compass and the accuracy would be better than 0.4° when the magnetic compass deviation was compensated. Static and dynamic experiments results show that the rotation modulation approach can improve the precision of MEMS gyro by about 30 times, the output accuracy of the system is better than 1° within 1 h.