CAJ | 학술논문

针对当前无人机航姿系统对GPS信息依赖严重的特点，设计了基于MEMS ADIS16405传感器和数字信号处理器( DSC) TMS320F28335的微型惯性测姿系统。以MEMS传感器的角速度、重力加速度、航向信息，建立姿态四元数方程，解算出飞行器姿态。运用扩展卡尔曼滤波方法，消除MEMS陀螺漂移误差。 DSC28335的硬件平台实现了四元数扩展卡尔曼滤波算法。转台仿真试验表明，漂移误差能在线最优估计和实时补偿，输出的航姿精度较高。该微型测姿系统具有较高的实用价值。
침대당전무인궤항자계통대GPS신식의뢰엄중적특점，설계료기우MEMS ADIS16405전감기화수자신호처리기( DSC) TMS320F28335적미형관성측자계통。이MEMS전감기적각속도、중력가속도、항향신식，건립자태사원수방정，해산출비행기자태。운용확전잡이만려파방법，소제MEMS타라표이오차。 DSC28335적경건평태실현료사원수확전잡이만려파산법。전태방진시험표명，표이오차능재선최우고계화실시보상，수출적항자정도교고。해미형측자계통구유교고적실용개치。
Aiming at the high cost,large size and severe dependence on GPS of UAV Attitude Acquisition System,an low-cost micro attitude acquisition system was designed based on MEMS sensor ADIS16405 and digital singal controller TMS320F28335(abbr. DSC28335). First,the attitude-quaternion equations were established with signals of gyroscope, accelerometer and magnetometer from MEMS, the UAV attitudes were calculated. Then MEMS gyroscope drift was eliminated by extend Kalman filter. The DSC28335 hardware platform fulfilled quaternion extend Kalman filter algorithm. The Turntable simulation experiment shows the system can get high accuracy attitudes, online optimal estimation and realtime compensation for gyroscope drift. The micro attitude system can be put into engineering application.