Dynamic carrier attitude measurement system and method based on MEMS sensors

Abstract

The invention discloses a dynamic carrier attitude measurement system and method based on MEMS sensors. The system includes a detecting unit including MEMS sensors, a microprocessor module and an upper computer, wherein the upper computer is connected with the microprocessor module through a communication circuit module; the input end of the microprocessor module is connected with a signal acquisition unit; and the detecting unit including the MEMS sensors includes three MEMS acceleration sensors, three angular rate sensors and three magnetic strength sensors. The method includes the steps as follows: real-time detection and synchronous transmission for attitude of a dynamic carrier; signal acquisition and pretreatment; acquisition and storage for pitching angle, roll angle, course angle, rotation matrix, euler angle and quaternion of the dynamic carrier through the data analysis and processing via the microprocessor module; and processing result output and display. The system and method, provided by the invention, have the advantages of reasonable design, convenience for operation, high measurement real-time performance and precision, various output results, strong practicability and suitability, as well as high popularization and application values.

Description

technical field [0001] The invention relates to the technical field of carrier attitude measurement, in particular to a dynamic carrier attitude measurement system and method based on multiple MEMS sensors. Background technique [0002] In the prior art, attitude measurement mostly calculates the attitude angle of the carrier in the inertial space by measuring the three-axis geomagnetic field strength value and the three-axis acceleration value of the carrier in the inertial space. Geomagnetic field measurement has low cost and wide range, and can calculate the static heading angle of the carrier. However, the geomagnetic field is low in strength and is very susceptible to interference from other magnets. Acceleration measures the direction of gravity. In the absence of external acceleration, it can accurately calculate the static pitch angle and roll angle, and the angle will not have cumulative drift. However, the acceleration sensor actually uses MEMS technology to detect...

AI Technical Summary

Problems solved by technology

At present, some products at home and abroad that realize dynamic carrier attitude measurement use Euler angles to express dynamic carrier attitudes, and some use quaternions to express dynamic carrier attitudes. Among them, Euler angles are intuitive and easy to understand, but there is a large pitch angle. Due to problems such as low time accuracy and singular points, the Euler angle representation method cannot accurately represent the dynamic carrier attitude; the quaternion representation method is clear and the operation is simple, but errors may accumulate and illegal quaternions may appear, and, It is impossible to convert between coordinate systems, it must be converted into a rotation matrix, and the steps of converting a quaternion into a rotation matrix are very complicated, and in many cases the conversion cannot be realized at all

In addition, the current data frame output by the dynamic carrier attitude measurement system is fixed, and the display method is single. It cannot output the data that the user needs to know according to the user's needs, and cannot well meet the needs of different occasions.

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