The Attitude Measurement System Design Of Vehicle Based On MARG Sensors

With the development of modern technology, the development speed of automotiveelectronics industry increases rapidly, attitude measurement system of vehicle has become atrend. For GPS systems, inertial navigation systems, and magneto-resistive sensors arerestricted using in automotive environment, we propose an attitude measurement systembased on MARG (Magnetic, Angular Rate, Gravity) sensor, and it has small size, low cost andhigh reliability.First, this paper summarizes the current situation of car navigation systems and theresearch status of attitude algorithm based on MARG sensor at home and abroad, it isproposed the overall design of the system, including determining attitude measurementmethod of vehicle, the selection of the main devices and attitude update algorithm.Secondly research attitude algorithm of MARG sensor, the paper proposed ExtendedKalman Filter algorithm based on the algorithm of conventional electronic compass andquaternion attitude updating algorithm of gyro, and proposed an adaptive method for themeasurement noise covariance algorithm to solve the interference problem of traditionalelectronic compass attitude measurement system in a real application environment, throughMATLAB software simulation, verify the effectiveness of the algorithm.Then determine the overall framework of attitude measurement system, design eachmodule of the hardware. The hardware system includes power module, signal conditioningmodules, MUC control module, data storage module, which the signal conditioning modulesis to complete signal amplification and filtering of the sensors, MUC control module is tocomplete sensor signal acquisition and data communication, data storage module for datacomplete storage.Finally, the semi-physical simulation experiments are conducted which can verifyeffectiveness and feasibility of Extended Kalman Filter algorithm of adaptive measurement noise covariance in practical application environment.