摘要根据某近程防空反导系统的需要，研究了一种以ARM处理器为核心，具有带磁阻传感器的三轴惯性传感器的微型航姿系统，进行目标导引。该微型航姿系统具有精度较高、成本较低、数据更新快、信息量大的特点。首先就构建航姿系统所需的基本理论知识进行介绍。其次研究了常用的姿态更新算法：欧拉角法、方向余弦法和四元数法，以及四元数、姿态矩阵及欧拉角三者之间的关系。接着设计并实现了航姿系统姿态算法，并利用椭圆补偿法进行磁航向误差补偿。最后，在嵌入式硬件平台上进行了调试，并对航姿系统的性能进行了分析。65317

毕业论文关键词  微型航姿系统  嵌入式  基于ARM处理器  姿态算法 磁航向误差补偿  性能分析

毕业设计说明书（论文）外文摘要

Title   Research on Embedded Micro Inertial Attitude and Heading Reference System Based on ARM 

Abstract For the purpose of providing a high performance micro Attitude and Heading Reference System (AHRS) for a close-in air-defense and antimissile system. , which has the characteristics of high precision, low cost, sufficient information and high real time, a research on AHRS composed of a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer based on ARM CPU is carried on. The system is used as a target seeker. Firstly, essential theory knowledge for constructing AHRS is introduced. Then a research on common attitude updating algorithms including Euler algorithm, direction cosine algorithm and quaternion algorithm and the relationship of Euler angles, direction cosine matrix and quaternion is carried on. Next the algorithm of attitude and heading is designed and realized and the elliptical compensation method is used for magnetic heading error compensation. Last but not least, debug on embedded hardware platform is carried on, and an performance analysis of AHRS is given.

Keywords    Micro inertial attitude and heading reference system    Embedded   Based on ARM processor    Algorithm of attitude and heading  Magnetic heading error compensation    Performance analysis  

目   录

1  引言 1

1.1  课题背景及意义 1

1.2  微型航姿系统的发展 1

1.3  论文主要内容 2

2  航姿系统基本理论知识 2

2.1  地球模型的基本参数 2

2.2  几种常用的坐标系 2

2.3  姿态角定义 3

2.4  坐标变换理论与捷联矩阵 4

2.4.1  坐标变换理论 4

2.4.2  捷联矩阵 5

3  姿态更新算法的研究 7

3.1  欧拉角法 7

3.2  方向余弦法 8

3.3  四元数法 9

3.3.1  四元数 9

3.3.2  转动四元数 11

3.3.3  姿态角、姿态矩阵和四元数之间的关系 11

3.3.4  求解四元数微分方程 14

3.4  姿态更新算法比较