【作者】 张卫；

【导师】 史小平；

【作者基本信息】 哈尔滨工业大学 ， 控制工程（专业学位）， 2014， 硕士

【摘要】 航向速度与姿态航向是惯导系统中必不可少的重要参数。具有高度复杂性的现代航天器，尤其是有人驾驶的由数百万组件构成的航天器，要求能够实时得到载体的航向和姿态参数，同时要求惯导系统必须具备体积小、费用低、功耗低、噪声低、维护简单、精度高、稳定性好、启动快、全时间工作能力好和实时性能强等高性能的工作要求，传统的惯性测量单元由于体积大、费用昂贵、可靠性较低且误差较高的缺点已经无法满足上述指标的要求。以MEMS(Micro-Electro-Mechanical System)器件为主的惯性测量组合技术是最近几年研发出来的一项即不凭借外部信号也不向外部散射能量的自主式新型技术，具有良好的隐蔽性、极高的数据传输速度、短时高精度、极好的稳定性、小型化的体积和轻重量的优点，能够很好的弥补传统惯测组合技术难以克服的缺点。加之32位微控制器技术的突破性进展以及高性能MEMS传感器件产业化的实现，使得设计这种满足高性能要求的微型数据采集系统变成了现实。本文以航天器中惯测组合系统的微型化与集成化为背景，设计了采用基于ARM Cortex-M4内核的STM32F417ZG微控制器为主控单元，带有无线发送功能、RS232接口、CAN接口和RS422/RS485接口技术的具有六维测量输出的集成化微型加速度计组合系统。在系统硬件设计方面，采用硬件资源丰富且运算速度高的ARM微控制器，大大提高了系统的性能。数据传输接口多，实际应用变得非常的广泛。使用数字型和模拟型加速度传感器，输出的加速度数据互为备份互为验证（冗余），保证了系统的稳定性和实用性。在系统软件设计方面，编写了系统的初始化程序和数据采集及传输的应用程序，运用LabVIEW软件编写了上位机接收采集数据的图形界面程序。程序可移植性强，在实际应用过程中非常的方便，为其他系统的设计工作提供了参考依据，并可以节省很多宝贵的时间开销。在加速度传感器的误差补偿与标定设计方面，提出了模拟型MEMS加速度传感器的重力场翻滚法标定方案与标度变换的算法，和数字型MEMS加速度传感器的多种误差源的补偿方案，为后期进行的加速度传感器的标定与补偿工作提供了理论依据。更多还原

【Abstract】 Heading and attitude are the indispensable important parameters of the inertialnavigation system.With high complexity of modern spacecraft, especially manned bymillions of components of the spacecraft, carrier can get real-time heading and attitudeparameters, also asks that the inertial navigation system must have a small volume, lowcost, low power consumption, low noise, simple maintenance and high precision, goodstabillty, fast start, the ability to work full time,powerful real-time performance and highperformance work requirements such as high performance requirements, the traditionalinertial measurement unit, expensive because of the large volume, high reliability andlow error faults have been unable to meet the requirements of the above indicators.Combination based on MEMS(Micro-Electro-Mechanical System) inertialmeasurement technologyis developed in recent years,which is not dependent onexternal information nor the external radiation energy of autonomous new technology,good concealment, high data update rate, short time and high precision, good stability,smaller volume and the advantages of light weight, can fully make up for theinadequacy of the traditional Inertial Measurement technology.With the development of32-bit microprocessor technology and the realization of the industrialization ofminiature high performance of inertial sensor, which makes development that couldsatisfy the requirement of high performance micro data acquisition system into reality.Based on the combination used in spacecraft test system of miniaturization andintegration into the background, the design adopts the processor STM32F417ZG whichuses the kernel of ARM Cortex-M4as the main control unit, a wireless transmissionfunction, RS232interface, the CAN interface and RS422/RS485interface technologywith six dimensional measurement output combination of integrated microaccelerometer system.In the aspect of the system hardware design, the use of hardware resources, and theARM microprocessor of high operation speed, greatly improve the performance of thesystem.Data transmission interface, actual application is very widespread.Using digitaland analog acceleration sensor, the output acceleration data backup each other mutualverification (redundanct), guarantee the stability and practicability of the system.In terms of the system software design, write the system initialization program andthe application of data acquisition and transmission, using LabVIEW software to writethe PC receives the data graphical interface program.Application portability is strong, inthe process of practical application is very convenient, to work on other systems designprovides a reference basis, and will save you a lot of precious time overhead. In terms of acceleration sensor error compensation and calibration design, putsforward the simulation type gravity field rolling method for MEMS acceleration sensorcalibration scheme and scale transformation algorithm, and type MEMS accelerationsensor of various error sources of compensation scheme, accelerometer calibration andcompensation for late work provides a theoretical basis.更多还原