Research On MIMU Assisted Dual Antenna GPS Combination Attitude Measurement System

Naval vessel is easy to be influence by wind waves when operating on the water, so the shipboard equipment will have a great influence on the normal performance. In order to guarantee the stabilization of shipboard weapon aiming systems, the carrier attitude need real-time measurement, then attitude information passed to the control part of the stabilized platform, and pass by compensation to guarantee the stability of the platform. To some extent, attitude determination system and integrated platform can isolate the carrier rocking vibrations. Existing attitude determination system is expensive and unreliable, vulnerable to the influence of environmental conditions. The paper according to effective requirement, designed a kind of MIMU auxiliary two-antenna GPS combination attitude measuring system, to improve direction finding precision and stability.The paper studied the MIMU auxiliary two-antenna GPS attitude measuring principle, MIMU auxiliary ambiguity resolution, and the analysis of combination attitude measurement. First fitness function is studied, and the filtering fitness function has the adaptability evaluation for carrier phase measurement noises replace fitness function. The effectiveness of filtering fitness function is verified by matlab simulation, and then analyzed the effectiveness of attitude angle provided by MIMU for compressing the fuzzy degree of space. Hardware designed, has set up a hardware circuit for the TMS32F28335 as main control, including power circuit design, the serial communication design between the microprocessor and two independent GPS-OEM board LEA-6T, the communication circuit design between the microprocessor and the high precision gyro accelerometer MPU6050. Software, designed IIC communication procedures as well as the attitude algorithm for micro inertial systems, and then the program of two-antenna GPS attitude algorithm is designed. Finally, the paper designed the static and dynamic test to verify the system reliability and stability, and the experimental results showed that:under the condition of baseline length is about 1.5m, MIMU auxiliary two-antenna GPS combination system of the measurement precision is more than a single system of measurement precision, and shipboard in low dynamic situation, azimuth and pitch angle precision meet the application requirements of shipboard equipment under the special environment.