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CN104897153A - Carrier attitude measuring system based on MEMS (micro-electromechanical systems) and MR (magnetic-resistance) sensors - Google Patents

Carrier attitude measuring system based on MEMS (micro-electromechanical systems) and MR (magnetic-resistance) sensors Download PDF

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Publication number
CN104897153A
CN104897153A CN201510350409.0A CN201510350409A CN104897153A CN 104897153 A CN104897153 A CN 104897153A CN 201510350409 A CN201510350409 A CN 201510350409A CN 104897153 A CN104897153 A CN 104897153A
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CN
China
Prior art keywords
carrier
module
attitude
mems
sensors
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Pending
Application number
CN201510350409.0A
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Chinese (zh)
Inventor
孙志君
方继广
唐猛
王国荣
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Ying Fumeixin Science And Technology Ltd Of Suzhou City
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Ying Fumeixin Science And Technology Ltd Of Suzhou City
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Priority to CN201510350409.0A priority Critical patent/CN104897153A/en
Publication of CN104897153A publication Critical patent/CN104897153A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Gyroscopes (AREA)

Abstract

The invention discloses a carrier attitude measuring system based on MEMS (micro-electromechanical systems) and MR (magnetic-resistance) sensors. The carrier attitude measuring system comprises a triaxial MEMS accelerator, a triaxial MR sensor, a microcontroller module, an analog-digital conversion module, a display module and a power source module. The triaxial MEMS accelerator and the triaxial MR sensor are connected with the microcontroller module by the analog-digital conversion module, the display module and the power source module are connected with corresponding ports of the microcontroller module, the triaxial MEMS accelerator is used for acquiring a pitch angle and a roll angle of a carrier on the basis of gravity vectors, and an output of the triaxial MR sensor can provides an azimuth of the carrier relative to geomagnetic north pole after matrix transformation taking the pitch angle and the roll angle as parameters.

Description

A kind of attitude of carrier measuring system based on MEMS and MR sensor
Technical field
The present invention relates to a kind of attitude measurement system, particularly relate to a kind of attitude of carrier measuring system based on MEMS and MR sensor, belong to attitude measurement control field.
Background technology
Traditional attitude measurement system adopts Methods of Strapdown Inertial Navigation System (SINS), compare Platform INS Inertial, it is relatively less that it has volume, cost is relatively lower, be easy to installation and maintenance and reliability is a little higher, therefore, strapdown inertial navitation system (SINS) obtains investigation and application widely in aircraft navigation and attitude measurement.
But traditional attitude measurement system comprises strapdown inertia and generally has volume greatly, and weight is large, and complexity high, makes traditional attitude measurement system to be applied to daily use.Meanwhile, traditional strapdown inertial navitation system (SINS) generally needs the auxiliary position angle obtaining carrier of a north-seeking system, but traditional north-seeking system mostly is the system based on gyro, and its volume and complexity are also that daily use institute is unacceptable.Visible, for embedded system volume to strict restriction, need a kind of small-sized attitude measurement system of development to meet the requirement of its attitude measurement.The fast development of MEMS technology and MR technology, for developing this low cost, small size, the attitude measurement system of high integration provides possibility, thus can make the ability system of volume and cost sensitivity to attitude measurement.
Such as application number is a kind of attitude measurement method and the attitude measurement system of " 201210557018.2 ", while the stability ensureing attitude measurement, reduce error.Described method comprises: adopt double antenna global position system GPS to measure the first attitude information of cartridge; Micro-electromechanical system (MEMS) is adopted to measure the second attitude information of cartridge; Described first attitude information and described second attitude information are carried out data fusion obtain the full attitude information of cartridge and export.This invention adopts the mode of double antenna GPS and MEMS combination to carry out attitude measurement, utilize the mode of double antenna GPS, start-up time is fast, the equipment cost of attitude measurement is low, error is less, again in conjunction with the short time attitude hold facility of MEMS finishing equipment, ensureing to improve while measuring accuracy the antijamming capability of attitude measurement equipment complex electromagnetic environment to external world, enhance the stability of attitude measurement.
And for example application number is a kind of attitude measurement system based on single-axis acceleration sensors and triaxial magnetic field sensor and the attitude measurement method thereof of " 201310657215.6 ", and this system comprises: acceleration transducer, triaxial magnetic field sensor, GNSS module and data processing module; Described acceleration transducer is the Z-axis direction single-axis acceleration sensors with advance shaft quadrature arrangement, for measuring gravitational acceleration component, obtains the roll angle of ground carrier and the triangle relation of the angle of pitch; Described data processing module, obtain terrestrial magnetic field mould, earth's magnetic dip angle information and geomagnetic declination information for tabling look-up according to positional information, under the roll angle of combined ground carrier and the triangle relation of the angle of pitch and carrier coordinate system, three component arrays last solution of terrestrial magnetic field calculate course angle, the angle of pitch and roll angle.The attitude measurement new method of this invention can realize accurately resolving of attitude of carrier angle under carrier stationary or low mobility state, can reduce by a measuring amount, avoid the introducing of more measurement noises.
Summary of the invention
Technical matters to be solved by this invention provides a kind of convenience for the deficiency of background technology, flexibly, be easy to operate the attitude of carrier measuring system based on MEMS and MR sensor.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
Based on an attitude of carrier measuring system for MEMS and MR sensor, comprise 3 axis MEMS accelerometer, three axle MR sensors, micro controller module, analog-to-digital conversion module, display module and power module; Described 3 axis MEMS accelerometer is all connected micro controller module by analog-to-digital conversion module with three axle MR sensors, and described display module and power module are connected on the corresponding port of micro controller module;
Wherein, 3 axis MEMS accelerometer, for obtaining carrier based on the angle of pitch of gravity vector and roll angle;
Three axle MR sensors, for obtaining the position angle of carrier based on ground magnetic vector;
Analog-to-digital conversion module, converts digital signal to for simulating signal 3 axis MEMS accelerometer and three axle MR sensors obtained;
Micro controller module, for calculating the attitude parameter of carrier according to the angle of pitch based on gravity vector obtained, roll angle and the declinometer based on ground magnetic vector;
Display module, for showing the attitude of carrier parameter that micro controller module calculates in real time.
As the further preferred version of a kind of attitude of carrier measuring system based on MEMS and MR sensor of the present invention, described micro controller module adopts AVR series monolithic.
As the further preferred version of a kind of attitude of carrier measuring system based on MEMS and MR sensor of the present invention, described display module is LCD display.
As the further preferred version of a kind of attitude of carrier measuring system based on MEMS and MR sensor of the present invention, the chip model of described 3 axis MEMS accelerometer is MMA7260Q.
As the further preferred version of a kind of attitude of carrier measuring system based on MEMS and MR sensor of the present invention, the chip model of described three axle MR sensors is HMC2003.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1, structure of the present invention simple, there is low cost, high precision, the feature of microminiaturized numerical monitor;
2, the present invention utilizes 3 axis MEMS accelerometer to be used for obtaining carrier based on the angle of pitch of gravity vector and roll angle, and the output of three axle MR sensors can provide the position angle of carrier relative to magnetic north after the matrixing being parameter with the angle of pitch and roll angle, and then obtain attitude of carrier.
Accompanying drawing explanation
Fig. 1 is structure principle chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, the present invention designs a kind of attitude of carrier measuring system based on MEMS and MR sensor, comprises 3 axis MEMS accelerometer, three axle MR sensors, micro controller module, analog-to-digital conversion module, display module and power module; Described 3 axis MEMS accelerometer is all connected micro controller module by analog-to-digital conversion module with three axle MR sensors, and described display module and power module are connected on the corresponding port of micro controller module;
Wherein, 3 axis MEMS accelerometer, for obtaining carrier based on the angle of pitch of gravity vector and roll angle;
Three axle MR sensors, for obtaining the position angle of carrier based on ground magnetic vector;
Analog-to-digital conversion module, converts digital signal to for simulating signal 3 axis MEMS accelerometer and three axle MR sensors obtained;
Micro controller module, for calculating the attitude parameter of carrier according to the angle of pitch based on gravity vector obtained, roll angle and the declinometer based on ground magnetic vector;
Display module, for showing the attitude of carrier parameter that micro controller module calculates in real time.
The present invention adopts 3 axis MEMS accelerometer to be used for obtaining carrier based on the angle of pitch of gravity vector and roll angle, and the output of three axle MR sensors can provide the position angle of carrier relative to magnetic north after the matrixing being parameter with the angle of pitch and roll angle.
Wherein, described micro controller module adopts AVR series monolithic, and described display module is LCD display, and the chip model of described 3 axis MEMS accelerometer is MMA7260Q, and the chip model of described three axle MR sensors is HMC2003.
Native system has selected the HMC2003 tri-axle magnetoresistive transducer of Honeywell.HMC2003 is a high sensitivity three axle MR sensor, and it is combined by single shaft MR sensor HMC1001 and twin shaft MR sensor HMC1002.Its precision can reach 400ugauss, and range is ± 2gauss, and sensitivity is 1V/gauss.Magnetoresistive transducer can be magnetized and cause magnetic hysteresis after experienced by high-intensity magnetic field, thus causes the distortion of output signal, and " set/reset " function of Honeywell can be eliminated this magnetic hysteresis and make sensor return to normal duty.
3 axis MEMS accelerometer: the MMA7260Q monolithic tri-axial accelerometer of Freescale selected by the accelerometer in native system.MMA7260Q is the capacitance type micromechanical accelerometer of a low cost, and its inside has the functions such as signal adjustment, single pole low-pass filter, temperature compensation, and its range can select one of 1.5g/2g/4g/6g by programming.
AVR single chip has prefetched instruction function, namely when an execution instruction, in advance next instruction is got into, and call instruction can be performed within a clock period; Multiple accumulator type, data processing speed is fast; AVR single chip has 32 general purpose working registers, and being equivalent to has 32 viaducts, can fast passing; Response time is fast.AVR single chip has multiple fixing interrupt vector entry address, can respond interruption fast; AVR single chip power consumption is low.For typical power consumption situation, be 100nA when WDT closes, be more suitable for battery powered application apparatus; Minimum 1.8 V of some devices get final product work; AVR single chip security performance is good.
Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, and every technological thought proposed according to the present invention, any change that technical scheme basis is done, all falls within scope.By reference to the accompanying drawings embodiments of the present invention are explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, makes a variety of changes under can also or else departing from the prerequisite of present inventive concept.

Claims (5)

1. based on an attitude of carrier measuring system for MEMS and MR sensor, it is characterized in that: comprise 3 axis MEMS accelerometer, three axle MR sensors, micro controller module, analog-to-digital conversion module, display module and power module; Described 3 axis MEMS accelerometer is all connected micro controller module by analog-to-digital conversion module with three axle MR sensors, and described display module and power module are connected on the corresponding port of micro controller module;
Wherein, 3 axis MEMS accelerometer, for obtaining carrier based on the angle of pitch of gravity vector and roll angle;
Three axle MR sensors, for obtaining the position angle of carrier based on ground magnetic vector;
Analog-to-digital conversion module, converts digital signal to for simulating signal 3 axis MEMS accelerometer and three axle MR sensors obtained;
Micro controller module, for calculating the attitude parameter of carrier according to the angle of pitch based on gravity vector obtained, roll angle and the declinometer based on ground magnetic vector;
Display module, for showing the attitude of carrier parameter that micro controller module calculates in real time.
2. a kind of attitude of carrier measuring system based on MEMS and MR sensor according to claim 1, is characterized in that: described micro controller module adopts AVR series monolithic.
3. a kind of attitude of carrier measuring system based on MEMS and MR sensor according to claim 1, is characterized in that: described display module is LCD display.
4. a kind of attitude of carrier measuring system based on MEMS and MR sensor according to claim 1, is characterized in that: the chip model of described 3 axis MEMS accelerometer is MMA7260Q.
5. a kind of attitude of carrier measuring system based on MEMS and MR sensor according to claim 1, is characterized in that: the chip model of described three axle MR sensors is HMC2003.
CN201510350409.0A 2015-06-23 2015-06-23 Carrier attitude measuring system based on MEMS (micro-electromechanical systems) and MR (magnetic-resistance) sensors Pending CN104897153A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105841696A (en) * 2016-03-24 2016-08-10 苏州合欣美电子科技有限公司 Vehicle attitude measurement method based on gravity vector
CN106647791A (en) * 2016-12-27 2017-05-10 广州市中海达测绘仪器有限公司 Monitoring device for three-dimensional posture, mechanical device and monitoring method for three-dimensional posture
CN109841066A (en) * 2017-11-27 2019-06-04 大唐移动通信设备有限公司 Processing method, geomagnetism detecting device, electronic equipment and the storage medium of economize on electricity
CN111256680A (en) * 2020-02-13 2020-06-09 广州佳简通信科技有限公司 Attitude detection device supporting 5G with operating system
CN112525002A (en) * 2020-09-29 2021-03-19 湖北华中光电科技有限公司 Mortar rapid shooting aiming device based on MEMS attitude sensor and use method thereof

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Publication number Priority date Publication date Assignee Title
US6813584B2 (en) * 2001-03-30 2004-11-02 Tsinghua University Micro azimuth-level detector based on micro electro-mechanical systems and a method for determination of attitude
US20050288119A1 (en) * 2004-06-28 2005-12-29 Hongchuan Wang Real-time measurements for establishing database of sporting apparatus motion and impact parameters
CN101571395A (en) * 2009-06-15 2009-11-04 哈尔滨工程大学 Microminiature inertial-combined navigation parameter measuring unit and measuring method thereof
CN102759356A (en) * 2012-07-20 2012-10-31 陕西航天长城测控有限公司 Dynamic carrier attitude measurement system and method based on MEMS sensors
CN103557866A (en) * 2013-09-30 2014-02-05 美新半导体(无锡)有限公司 Virtual gyroscope and algorithm based on geomagnetism technology
CN104197931A (en) * 2014-09-12 2014-12-10 哈尔滨恒誉名翔科技有限公司 Three-dimensional display device of miniature navigation attitude system based on FPGA (Field Programmable Gate Array)

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6813584B2 (en) * 2001-03-30 2004-11-02 Tsinghua University Micro azimuth-level detector based on micro electro-mechanical systems and a method for determination of attitude
US20050288119A1 (en) * 2004-06-28 2005-12-29 Hongchuan Wang Real-time measurements for establishing database of sporting apparatus motion and impact parameters
CN101571395A (en) * 2009-06-15 2009-11-04 哈尔滨工程大学 Microminiature inertial-combined navigation parameter measuring unit and measuring method thereof
CN102759356A (en) * 2012-07-20 2012-10-31 陕西航天长城测控有限公司 Dynamic carrier attitude measurement system and method based on MEMS sensors
CN103557866A (en) * 2013-09-30 2014-02-05 美新半导体(无锡)有限公司 Virtual gyroscope and algorithm based on geomagnetism technology
CN104197931A (en) * 2014-09-12 2014-12-10 哈尔滨恒誉名翔科技有限公司 Three-dimensional display device of miniature navigation attitude system based on FPGA (Field Programmable Gate Array)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105841696A (en) * 2016-03-24 2016-08-10 苏州合欣美电子科技有限公司 Vehicle attitude measurement method based on gravity vector
CN106647791A (en) * 2016-12-27 2017-05-10 广州市中海达测绘仪器有限公司 Monitoring device for three-dimensional posture, mechanical device and monitoring method for three-dimensional posture
CN109841066A (en) * 2017-11-27 2019-06-04 大唐移动通信设备有限公司 Processing method, geomagnetism detecting device, electronic equipment and the storage medium of economize on electricity
CN111256680A (en) * 2020-02-13 2020-06-09 广州佳简通信科技有限公司 Attitude detection device supporting 5G with operating system
CN112525002A (en) * 2020-09-29 2021-03-19 湖北华中光电科技有限公司 Mortar rapid shooting aiming device based on MEMS attitude sensor and use method thereof
CN112525002B (en) * 2020-09-29 2023-04-25 湖北华中光电科技有限公司 Mortar quick shooting aiming device based on MEMS attitude sensor and using method thereof

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Application publication date: 20150909