高转速弹丸MEMS陀螺/磁强计组合测姿系统设计
毕业论文关键词 组合测姿 高转速弹丸 MEMS陀螺仪 加速度计 磁强计
Title System Design of MEMS Gyroscope/Magnetometer Integrated Attitude Measurement for High Spin Rate Projectiles Abstract To solve the problem of attitude measurement for high spin rate projectiles, the MEMS gyroscope/Magnetometer integrated attitude determination method is studied. The measurement principle of inertial device and magnetometer are given, further,the MEMS inertial/magnetometer combined measurement simulation system is established.At first the model of inertial navigation are used to write the algorithm to calculate attitude angles, velocity and displacement.Then the inertial navigation and geomagnetic aided measurement algorithm are used, attitude angles, velocity and displacement are calculated through the combined measurement model of MEMS gyroscope, MEMS accelerometer and three axis magnetometer. Finally, simulation experiments show that MEMS gyroscope/Magnetometer integrated attitude determination can achieve high accuracy then inertial unit. The research results provide an effective method for attitude measurement of high spin rate projectiles.
Keywords integrated attitude determination high spin rate projectiles MEMS gyroscope MEMS accelerometer magnetometer
目次
1绪论.1
1.1课题背景及意义.1
1.2.1惯性姿态测量技术.2
1.2.2地磁测姿技术.3
1.2.3GPS/INS组合导航技术5
1.3本设计主要内容.6
2惯性导航技术理论基础.8
2.1惯性测量模型基本理论.8
2.1.1MEMS陀螺仪的工作原理.8
2.1.2MEMS加速度计的工作原理.9
2.2MEMS陀螺仪测姿原理.11
2.3MEMS加速度计测量原理.13
2.3.1坐标系转化13
2.3.2加速计测量值坐标转换15
2.4本章小结16
3地磁探测技术理论基础18
3.1地磁场基本理论18
3.1.1地磁场的基本特点18
3.1.2地磁场坐标系19
3.1.3常用的地磁场模型21
3.2三轴磁强计基本原理24
3.3磁强计测姿原理26
3.4本章小结28
4MEMS惯性/磁强计组合测量仿真系统设计.29
4.1测量仿真系统原理29
4.2MEMS陀螺仪仿真模块.29
4.2.1固定零偏30
4.2.2交叉耦合30
4.2.3测量噪声30
4.3MEMS加速度计仿真模块.30
4.3.1固定零偏31
4.3.2交叉耦合31
4.3.3测量噪声31
4.3.4安装位置影响32
4.4三轴磁强计仿真模块32
4.4.1固定零偏32
4.4.2测量噪声33
4.5本章小结33
5MEMS惯性/磁强计组合测量算法仿真设计.34
5.1惯性导航测量算法设计34
5.1.1惯性导航测量算法功能34
5.1.2惯性导航测量算法解算结果35
5.2地磁辅助测量算法设计46
5.2.1组合测量算法原理46