【作者】 王家兵；

【导师】 陈林；

【作者基本信息】 重庆大学 ， 计算机软件与理论， 2006， 硕士

【摘要】 捷联姿态参考系统是惯导系统中的一种,它固定在载体上,通过计算机内建的惯导平台,利用陀螺与加速度计采集到的信号,来完成载体姿态矩阵实时计算,从姿态矩阵提取出载体的横滚角与俯仰角输出。姿态参考系统在天线的稳定、地理勘探、坦克、舰船、石油钻井平台和海面跟踪、机器人控制等方面有着广泛的应用。目前国内外同类产品在可靠性、稳定性、实时性等方面存在很多不足,同时价格昂贵。近年来,DSP以其处理精度高、实时性强、功耗低,特别适合数字信号处理等特点广泛应用到了各种嵌入式系统中,本课题就是以TI的DSP芯片为处理核心来研究开发捷联姿态参考系统,进行了系统的架构设计和实现。系统采用MCU与DSP构成的双CPU体系结构,主要由以惯性组合单元(IMU),MCU模数转换与信号接口单元,DSP数据处理单元三部分组成。由三轴正交的光纤陀螺与三轴正交的石英加速度计组成的惯性组合单元分别感应X轴、Y轴、Z轴向的角速度与重力加速度比力,MCU来完成制A/D转换,再输出到DSP进行姿态角的计算。为提高系统的精度,研究采用了自适应扩展卡尔曼滤波来进行加速度计与陀螺信号的去噪处理。论文分析了捷联姿态参考系统的原理、嵌入式系统的开发技术以及运用的相关算法,进行了系统功能的划分与总体设计,完成了硬件、软件设计,配合合作方完成了系统的调试与测试。系统的硬件制作及仪器成型工作由合作方完成。更多还原

【Abstract】 As an Inertial Navigation System, Strapdown Attitude Reference System is fixed on the carrier. It realized a built-in inertial navigation system platform within the computer .By acquiring the gyro and accelerometer signals, the computer complete real-time calculation of the attitude matrix, then extracted roll angle and pitch angle from the matrix vector. Attitude Reference System now is widely used in antenna stability, geographic exploration, tanks, ships, oil drilling platforms, sea surface tracking, and robot control. At present, domestic and foreign products is still lack of reliability, stability, real-time ability while prices are very expensive. In recent years, Digit Signal Processors (DSP) , with characteristics of high precision, real-time , low power consumption, particularly suite for digital signal processing, have been widely used in embedded systems. This project studied and developed a Strapdown Attitude Reference System based on TI’s DSP chip, also completed the system architecture design and implementation.The whole system is composed of three parts: an IMU (Inertial Measurement Unit), an analog-digital conversion with signal interface unit based on MCU, and a data-processing module based on DSP. The IMU, which consists of three orthogonal FOG (Fiber Optic Gyro) and three orthogonal accelerometers, detects the angular velocity and acceleration of gravity in X-axis, Y-axis and Z-axis.The MCU realize A/D system conversion, then the DSP complete Attitude calculation. To improve the accuracy, the system has used an Adaptive Extended Kalman Filter for accelerometer and gyro signal denoising. This paper has introduced the principle of Attitude Reference System and related algorithm. It also provides a detailed description of hardware and software design, and a simulation of the Adaptive Extended Kalman Filter by Matlab.更多还原