| With the increasing development of Laser collimation technology, laser collimation system is widely used in many fields, such as hydraulic engineering, agricultural machinery, defence-related science and technology, exploration drilling, railway construction and tunneling. Laser collimation system could complete the long-distance and high-precision monitoring task under the condition of harsh environments, utilizing the advantages of laser well directional property, good monochromaticity, energy concentration and strong coherent that ordinary light source could not be compared with. However, because the installation and regulation of each component in laser collimation system is manual commonly, localization process leads to large errors easily. Attitude measurement device of laser collimation system makes up for the shortcoming, improving the measurement accuracy. As a kind of attitude measurement device, solid-state electronic compass could be applied to laser collimation system that made it digital and intelligent.According to the working principle of the magnetoresistive sensor and accelerometer, attitude measurement principle of the electronic compass was analyzed firstly, and the calculation of the attitude angle was derived. Then hardware circuit was designed with three-axis magnetoresistive sensor and three-axis MEMS accelerometer based on the measurement principle. Data collection and angle calculation were completed with the core of DSP. Afterwards, using real coded genetic algorithm, a new method was designed that could solve the problem of orthogonal error and gain error in measuring system from the problem modeling. Digital simulation verified the feasibility of this method. Structured programming DSP software was designed with the concept of structured programming, and the design flow of each functional module was analyzed in detail. Finally the performance of the device was tested by experiments.After the detailed experiments, it was verified that the device could work normally and accomplish the attitude angle calculation and error correction. The system stability and repeatability is well. Data filtering is of great influence on the stability and repeatability of the device, so the performance could be improved by better filtering methods. The feasibility of real coded genetic algorithms was validated by the experiments. Optimization accuracy could be improved by means of increasing original data, search efforts enlargement and improved algorithm. Each test experiment provided an experimental basis and method demonstration of the further research. |
