摘要微惯性测量单元（MIMU）具有成本低、体积小、可靠性高的特点，被广泛应用于航向姿态参考系统（AHRS）。但是由微惯性测量单元建立的微捷联惯性导航系统（MSINS）中姿态误差具有随时间发散的特性，因此在应用时需要与GPS进行组合，利用GPS的长期稳定性来补偿惯性传感器造成的系统误差。63510
本文主要对基于微惯性测量单元的航向姿态参考系统进行了深入研究。首先介绍了姿态更新算法，利用其中的四元数法进行了航向姿态参考系统软件的仿真设计。航向姿态参考系统软件利用微惯性测量单元的输出，实时求解姿态矩阵，再通过姿态阵反解出航向角和姿态角。仿真表明，得出的角度与理论值存在较大偏差，针对这一问题，采用了卡尔曼滤波来进行修正。结果发现，在加入卡尔曼滤波器并且对滤波器相应参数进行修改以后，系统的精度得到显著地提高。
毕业论文关键词 MIMU 航向姿态参考系统 MSINS GPS 仿真 组合导航 卡尔曼滤波
毕业设计说明书（论文）外文摘要
Title AHRS algorithm software design based on MIMU
Abstract Miniature Inertial Measurement Unit(MIMU)has the characteristics of low cost, small volume and high reliability,so,it is widely used in the Attitude and Heading Reference System (AHRS).But the output of attitude in MSINS built by MIMU has the characteristics of pergence over time.therefore,it is always combined with GPS when it is used in order to compensate the systematic error caused by inertial sensor with the long-term stability of GPS.
This paper makes a deep research on the AHRS based on MIMU.First,the attitude updating algorithms is introduced and the quaternion method is used to design the AHRS simulation software .It solves attitude matrix with the output of MIMU and then solves the heading angle and attitude angle by attitude matrix.during the simulation,it it found that there is a big deviation between the angle obtained from the software and the theoretical value.So,Kalman filter is used to correct it.The results showed that after the Kalman filter is joined and the corresponding parameters of the filter is modified,the accuracy of the system is improved significantly.
Keywords MIMU AHRS MSINS GPS simulation integrated navigation Kalman filter
1 引言 5
1.1 本课题研究的目的和意义 5
1.2 国内外相关技术研究概况 5
1.2.1 国内外航向姿态参考系统发展现状 5
1.2.2 滤波算法发展现状 6
1.3 本文研究内容 7
2 航向姿态参考系统的基本原理 7
2.1 航向姿态参考系统 7
2.1.1 航向姿态参考系统概述 7
2.1.2 基本原理 8
2.1.3 本文所用坐标系和姿态角的定义 8
2.1.4 航向姿态参考系统的姿态算法 10
2.1.5 航向姿态参考系统的误差分析 14
2.2 本章小结 16
3 卡尔曼滤波基本理论 16
3.1 卡尔曼滤波概述 16
3.2 常规卡尔曼滤波方程 微惯性测量单元MIMU的AHRS软件设计:http://www.751com.cn/zidonghua/lunwen_70037.html