Research And Realization Of Low-cost Attitude Measurement System Based On MEMS Device

In recent years,with the rapid development of MEMS(Micro Electrical Mechanical)technology, inertial devices based on MEMS are being widely used in various fields. This paper researches the low-cost attitude measurement system based on MEMS device.First,the MEMS data acquisition module gathers real-time angular velocity signals.Then, the data storage module gets angular velocity signals from the MEMS data acquisition module and sends it into gyroscope error compensation model.The results are a series of more precise angular velocity signals.After that, through the attitude measurement model,the angular velocity signals are being resolved to get attitude information.The attitude measurement model is optimized by the attitude measurement experiment and the attitude measurement algorithm.At last,the attitude information such as the head angle, the pitch angle and the roll angle is get after the attitude algorithm.This paper mainly describes several common attitude measurement systems,introduces the status at home and abroad and the application of MEMS technology,expounds the background and significance,introduces the working principle of low-cost attitude measurement system based on MEMS technology such as the working principle of original gyroscope and vibratory MEMS gyroscope,lists the performance index commonly used in MEMS gyroscope,introduces the characteristics of ADXRS620, and then puts forward the general technical route of the attitude measurement system.In addition.,this paper also introduces the establish method of the MEMS gyroscope error compensation model. Firstly, it lists the common MEMS gyroscope error sources,describes the angular velocity error compensation model and the specific steps which include data acquisition, data preprocessing,data test,model establishment and parameter identification in detail. Then,the order of the ARMA(P, Q) error compensation model can be confirmed. It also introduces the algorithm principle and method of the adaptive Kalman filter fusion, and carries on the simulation experiment, then it introduces the hardware design and the overall software flow chart of the attitude measurement system.Finally, the results of static performance test and dynamic performance test verify the validity and reliability of the system.The measurement accuracy and reliability of the attitudemeasurement system can fully meet the requirements of missile,unmanned aerial vehicle and so on.