摘要介绍了一种基于MEMS微机电技术的磁罗盘系统。该系统能有效克服磁罗盘在实际测量过程中产生的各种误差，并加入了动态补偿算法。对罗盘的补偿方法主要采用倾角补偿。首先采用加速度传感器测量倾斜角度，并对测量角进行最小二乘拟合以减少误差，其次加入陀螺仪进行姿态融合，主要方法为卡尔曼滤波，得到系统的横滚角和俯仰角，再次对罗差进行倾角补偿。这种补偿方法在动态情况下优势更为突出，能很好的保证磁罗盘的测量精度。由实验数据看出，在外部加速度干扰情况下，补偿前最大误差为270°，补偿后最大误差缩小为2°。65304
毕业论文关键词 MEMS 磁罗盘 倾角补偿 加速度计 陀螺仪
毕业设计说明书（论文）外文摘要
Title The Research of Three-dimensional Compass Error Compensation Algorithm
Abstract
A magnetic compass system which based on MEMS technology is introduced．
The system can overcome the various errors which are produced on the actual measurement of the magnetic compass.And the system adds in a dynamic compensation algorithms.The major compensation method for compass is tilt compensation.Firstly,the acceleration sensor is used to measure tilt- angle,and add in the least-squares fitting to reduce the error of the measured angle.Then we use the gyroscopes to make fusion with attitude.The principal means is Kalman filtering,getting roll angle and pitch angle
of the system.And lastly,the compass is compensated.This compensation method has more advantages in the dynamic case.It can guarantees a perfect measurement accuracy of the compass.The experimental data shows that in the case of external acceleration interference,the maximum error before compensation is 270°,and The maximum error after compensation is 2°.
Keywords MEMS Compass Tilt-Compensation Accelerometer Gyroscopes
目 次
1 绪论 1
1.2 课题背景 1
1.3 本人工作 2
1.4 章节安排 2
2 系统开发环境简介 4
2.1 硬件开发工具 4
2.2 软件平台 4
3 工作原理即误差分析 6
3.1 工作原理 6
3.2 误差分析 7
4 系统硬件设计 9
4.1 系统硬件总体结构 9
4.2 单片机最小系统 9
4.3 三轴磁罗盘模块 12
4.4 加速度计模块 13
4.5 陀螺仪模块 14
4.6 IIC通信 15
4.7 外围电路设计 19
4.8 硬件设计总结 22
5 软件设计 24
5.1 三轴加速度计的采样与补偿 24
5.2 三轴陀螺仪的采样与补偿 27
5.3 加计与陀螺仪数据融合 28
5.4 三轴磁罗盘的采样与补偿 MEMS微机电技术三维磁罗盘误差补偿算法研究:http://www.751com.cn/zidonghua/lunwen_72864.html