磁传感器在AHRS系统中的应用技术研究+MATLAB程序
毕业论文关键词 AHRS 磁传感器 简易标定
Title Research on the application of magnetic sensors in theAHRS system
Abstract The Attitude and Heading Reference System is an inertial measurement unit,whichuses data fusion algorithm and some orthogonal mounted sensors,such asgyroscopes,accelerometers and magnetometers to accurately measure the threeaxial attitude of the vector in the space.And it is hot spot to measurement andresearch the magnetic field strength,because it is an important parameter in theAHRS.Based on the review of the basic theories of AHRS,this paper firstly has a deepunderstanding of the role of magnetic sensors in AHRS system and the measurementprinciples and the characteristics of the various types of magnetic sensors.Itchooses HMC5883L and HMC1053 sensors,designs a reasonable conditioning circuitof the sensor.And it uses STM32F411RE MUC and AD7609 analog to digital conversionchip for data acquisition,uses LabVIEW software to write PC program and sets upthe geomagnetic field measurement system.Acquiring experimental data in rotatingmarble platform and calibrating the magnetic sensors.Finally based on theexperimental data of commercial MIMU measured for the preliminary simulationstudy of the AHRS algorithm.
Key words AHRS magnetic sensors single calibration
目次
1引言..1
1.2本文研究的主要内容.2
2基础理论..3
2.1AHRS的基本概念..3
2.2AHRS的发展历程..3
2.3磁传感器的分类及发展概况4
2.4本章小结.6
3硬件电路设计7
3.1信号采集电路的设计.7
3.2STM32F411RE基本外围电路设计12
3.3串行通信接口电路的设计14
3.4电源电路设计15
3.5其他功能模块电路说明.15
3.6硬件调试过程中的问题及解决17
3.7本章小结..18
4数据采集系统软件设计..19
4.1软件总体设计分析19
4.2MCU下位机数据采集程序编写.19
4.3下位机软件调试过程中的问题及解决..20
4.4PC端上位机显示存储程序编写..21
4.5上位机软件调试过程中的问题及解决..22
4.6本章小结..22
5综合测试实验与结果分析.23
5.1三轴磁传感器的误差来源23
5.2三轴磁传感器的误差模型23
5.3三轴磁传感器误差补偿的方法26
5.4实验数据的处理与分析.29
5.5三轴磁传感器误差补偿效果验证..35
5.6本章小结..40
结论..41
致谢..42
参考文献43
附录ASTM32CubeMX配置详情45
附录B下位机MCU程序及部分注解..48
附录C上位机LabVIEW程序59
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