Realization On Micro Embedded Attitude And Heading System Based On MEMS

Due to the advantage of micromation, small size and low cost, Micro Unmanned Aerial Vehicle (MUAV) has developed rapidly in the military and civilian areas. The stability of attitude heading system is the premise of Unmanned Aerial Vehicle's safe flight, but the traditional attitude heading system is not for MUAV. Thus, to develop the attitude heading system with micromation, small size and low cost for MUAV is to solve.Aiming at attitude divergence and attitude error from accelerometers and magnetometer, the attitude heading system based on MEMS sensors, such as gyroscope, accelerometer, magnetometer and GPS has been designed and implemented. On the premise of performance the hardware system of MEMS sensors +DSP has been designed based on SPI, SCI, SRAM and FLASH and the driver has been designed. The extend kalman filter based on quaternion is used as a theoretical basis. The extend kalman filter has been used for attidude information fusion to prevent attitude divergence.The gravitational vector is obtained to get horizontal attitude by compensating the outputs of accelerometers with GPS's velocity aiming at the attitude error from accelerometers and magnetometer.The modeling and simulation has showed that the extend kalman filter can effectively improve the system accuracy and stability. The hardware-in-the-loop simulation shows that the attitude has meet the requirements of attitude heading system and the goal of establishing the attitude heading system with small size, low cost has been achieved. It lays a solid foundation on subsequent research and development of MUAV flight control.