Design And Realization Of Micro Attitude Heading Reference System Based On Combination Of MEMS And GPS

Attitude Heading Reference System is one of the on-board avionics systems that provide the UAV with important information such as attitude,heading and so on.The attitude information it outputs is the key to ensure the safe flight of the aircraft,The traditional navigation attitude reference system is bulky and costly and not suitable for use on a miniature UAV.Taking into account the size of the system,the cost and the object of application,this paper designs a micro-attitude system based on the combination of micro-inertial devices and GPS,The dissertation mainly focuses on the measurement and attitude measurement algorithms of micro-inertial devices and GPS,as well as a series of key technologies of attitude system,such as hardware implementation and software implementation.The paper introduces the basic principles of attitude-attitude system,respectively illustrates the basic algorithm of attitude solution of micro-inertial devices and GPS positioning principle.Based on this,a combined attitude measurement algorithm based on Extended Kalman filter for micro inertial devices and GPS is proposed,and the state equations and measurement equations of the combined attitude determination algorithm are deduced.Finally,by using Matlab simulation software to simulate the combined pose measurement algorithm,it is proved that the algorithm meets the requirements of the miniature navigation attitude system and provides feasible and accurate algorithm basis for navigation attitude system.Based on the analysis of the system principle of the combined attitude measurement,the hardware and software design schemes of the miniature attitude-taking system are respectively completed according to the specific requirements of the navigation attitude system.The hardware circuit is based on the architecture of "DSP + MEMS + GPS",and the core processor of TMS320F28377 is designed.The micro-inertia measuring unit of 9-axis micro inertial sensor chip is MPU9250.The domestic GPS module UM220-III is the GPS measuring module System hardware solutions.The software design is based on CCS(Code Composer Studio)as the development environment.The software is divided into initialization hardware module,micro-inertial device data measurement module,GPS data measurement module,attitude information data processing module and Attitude information display module,realize the attitude and attitude display system and other functions.At last,the upper computer interface can also receive the solved attitude data and display,And the joint attitude and heading system is debugged,which verifies that the combined attitude and heading system can track the attitude in real time under both static and dynamic conditions.It is proved that this design can accomplish the purpose of attitude measurement and satisfy the attitude system measurement requirements,to achieve the desired goal.