Embedded Heading Attitude Reference System Design And Realization

It is necessary to access the coordinate information of the target in the process of the target tracking. In this case, how to measure the azimuth and pitch of the target becomes the primary problem to be solved. The research work on this paper, the purpose of which is to provide a high performance micro Attitude and Heading Reference System (AHRS) used as the target seeker with the characteristic of high precision, low cost, sufficient information and high real time, is just based on the background above.Firstly, essential theory knowledge for constructing AHRS is introduced, giving a analysis on the relationship of Euler angles, direction cosine matrix and quaternion. The quaternion algorithm of attitude matrix is focused on. The complete process of determining the heading and the attitude determination is introduced in detail and geomagnetic field model is described comprehensively.Secondly, the process of hardware platform being set up and application software being brought about of AHRS is elaborated in detail. Hardware overall framework of AHRS is introduced, describing the design process of various function module in detail. Software overall design of AHRS is introduced, giving the main function flow chart of software design. We comprehensively depict the means of realizing various pars of the software and give the corresponding sub-function module flow charts.Lastly, verification experiments are done on AHRS made in this paper. We analysis the dynamic and static performance of AHRS; use the ellipse correction method and the least squares fitting method separately to compensate the magnetic heading error; verify the correctness of calculation results run by the geomagnetic elements program.Making AHRS being applied to the target tracking system, we do air target tracking experiments. The results show that target is able to be guided to the CCD field of view by AHRS, demonstrating that the performance of AHRS can satisfy design demands basically. The results illustrate that the AHRS possesses good practical value and can be extended to civilian areas.