Research On Attitude Reference System Based ARM

Although there is a huge demand of low-cost and miro Attitude and Heading Reference System(AHRS) in civil fields, such as the electronic toys, tridimensional emulation, sports detection, robots and VR games; the traditional AHRS limits in these fields because of high prices and large volume. With the rapid development of embedded system and the appearance of newly high-performed inertial components, it's possible to design a low-cost and micro AHRS. This paper researches a kind of AHRS which consists of high-performance ARM embedded microprocessor and embedded real-time operating system.Firstly, the basic theories and operational principles of AHRS are introduced, including the definition of usually coordinates in inertia system, carrier's attitude denotation, the Quaternion and Rotation vector attitude matrix algorithms,the principle of carrier's attitude measurement. An exponent fading factor adaptive algorithm which is based on the adaptive estimation is proposed.Secondly, this paper introduces the hardware and software design of AHRS based on ARM. We present the overall plan of hardware designing and discuss every function in detail. We also present the overall plan of software desiging and focus on software implementation of AHRS based on ARM. In order to verify the feasibility and reliability of the AHRS, we built an embedded real-time test platform and discuss the tool of Simulink/RTW which can generate portable C code in detail.Lastly, we build the experimental system based on the ARM HARS solution and describe the process of the experiment in detail, then in the experiment succeeded in solving the problems in debugging code, at last the successful implementation of the code and run cross-platform migration.Research proves that the AHRS compared with general attitude and heading measurement system is small size,low cost,high real time and so on. AHRS based on S3C2410X microprocessor and Linux2.6 real-time operating system is composed of 3-axis micro accelerometers, 3-axis micro rate gyros and 3-axisMangetoresistive sensors. The system is of great practical value in civil fields.