微惯性组合的抗磁干扰和温度补偿方法研究
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摘要
微惯性组合系统是MEMS陀螺在导航上的重要应用,该系统利用MEMS陀螺、加速度计和磁强计的传感器组合来进行载体姿态解算,组合导航有效的克服了MEMS陀螺精度较低及陀螺漂移较大等缺点。然而在实际应用时,MEMS陀螺的硅材质和结构特性对温度比较敏感,易产生较大的漂移,此外,磁强计容易受到外界磁场干扰,从而对载体姿态信息的融合结果产生不利影响。本文的主要研究内容和工作如下:
1.本文首先介绍了微惯性组合系统的相关基本理论,包括惯性系统中常用坐标系理论、姿态矩阵定义、四元数法、旋转矢量法等,并对捷联姿态算法做了初步阐述。
2.分别讨论了利用MEMS陀螺进行姿态解算和利用加速度计、磁强计组合进行姿态解算的算法,在此基础上,进一步论述了利用卡尔曼滤波融合三种传感器的信息解算出姿态角的方法。
3.分析了微机械陀螺的各种误差来源,阐述了了影响微机械陀螺振动位移和结构灵敏度的主要因素。温度的变化会使谐振频率发生偏移、品质因数发生改变,会对原有的各种误差进一步放大,从而影响微机械陀螺的输出精度。介绍了微机械陀螺的温度误差补偿算法模型,阐述了最小二乘多项式的基本原理及实现方式。
4.对干扰磁场的性质进行分析,将干扰磁场分为载体磁场和环境磁场。分别从这两个方面开展抗磁干扰方法研究,其一是载体磁场的补偿算法,其中讨论了基于椭圆假设最小二乘法的载体磁场补偿算法;其二是环境磁场的补偿方法,本文提出一种基于模式切换算法的抗磁干扰方案来实现在环境磁场较复杂的情况下进行姿态解算。
通过大量的实验结果证明,本文所实现的微惯性系统的温度补偿方案和抗磁干扰方法是有效的,具有实际应用价值。
AHRS(Attitude and Heading Reference Systems) has great application prospects in civil areas. AHRS consist of MEMS gyroscopes, accelerometers and magnetometers on all three axes and AHRS can effectively restrain MEMS gyro’s low accuracy and large gyroscope drift during attitude algorithm. However the magnetometer is vulnerable to external magnetic field disturbance, thus it might produce adverse effect to the fusion results, besides, silicon material and structural properties of MEMS gyroscope are sensitive to temperature which causes larger drift of MEMS gyroscope. The main content and work of this thesis are given as follows:
1. In the thesis, the basic theories of attitude calculation are first introduced, including common coordinates in inertia system, attitude matrix, quaternion and rotation vector attitude algorithms and so on. Besides, strapdown attitude algorithm is initially described.
2. The composition of AHRS and the attitude calculation are introduced. After showing the attitude solutions with MEMS gyroscopes and accelerometers, magnetometers separately, the KF is used to calculating the carrier’s attitude.
3. Analyses the source of temperature error. It indicates that resent frequency and quality factor are the main factors which influence the motion displacement and structure sensitivity. The resonant frequency will generate excursion and quality factor will change with temperature variation,which will magnify the original error and it will bring great influence on the output precision. Then, we introduce thermal error compensation algorithm model.
4. The character of disturbing magnetic field is analyzed based on analyzing the error of magnetometer, and is classified into carrier magnetic field and environmental magnetic field. There are more compensation algorithm for carrier magnetic field such as the least squares algorithm based on elliptic hypothesis while less algorithm for environmental magnetic field. Therefore some work was done on the study of the topic and an anti-magnetic strategy was raised in the thesis.
At the end, a large number of experimental results prove that the temperature compensation algorithm of MEMS gyroscope and the anti-magnetic strategy proposed in this thesis are effective and have practical value.
1.本文首先介绍了微惯性组合系统的相关基本理论,包括惯性系统中常用坐标系理论、姿态矩阵定义、四元数法、旋转矢量法等,并对捷联姿态算法做了初步阐述。
2.分别讨论了利用MEMS陀螺进行姿态解算和利用加速度计、磁强计组合进行姿态解算的算法,在此基础上,进一步论述了利用卡尔曼滤波融合三种传感器的信息解算出姿态角的方法。
3.分析了微机械陀螺的各种误差来源,阐述了了影响微机械陀螺振动位移和结构灵敏度的主要因素。温度的变化会使谐振频率发生偏移、品质因数发生改变,会对原有的各种误差进一步放大,从而影响微机械陀螺的输出精度。介绍了微机械陀螺的温度误差补偿算法模型,阐述了最小二乘多项式的基本原理及实现方式。
4.对干扰磁场的性质进行分析,将干扰磁场分为载体磁场和环境磁场。分别从这两个方面开展抗磁干扰方法研究,其一是载体磁场的补偿算法,其中讨论了基于椭圆假设最小二乘法的载体磁场补偿算法;其二是环境磁场的补偿方法,本文提出一种基于模式切换算法的抗磁干扰方案来实现在环境磁场较复杂的情况下进行姿态解算。
通过大量的实验结果证明,本文所实现的微惯性系统的温度补偿方案和抗磁干扰方法是有效的,具有实际应用价值。
AHRS(Attitude and Heading Reference Systems) has great application prospects in civil areas. AHRS consist of MEMS gyroscopes, accelerometers and magnetometers on all three axes and AHRS can effectively restrain MEMS gyro’s low accuracy and large gyroscope drift during attitude algorithm. However the magnetometer is vulnerable to external magnetic field disturbance, thus it might produce adverse effect to the fusion results, besides, silicon material and structural properties of MEMS gyroscope are sensitive to temperature which causes larger drift of MEMS gyroscope. The main content and work of this thesis are given as follows:
1. In the thesis, the basic theories of attitude calculation are first introduced, including common coordinates in inertia system, attitude matrix, quaternion and rotation vector attitude algorithms and so on. Besides, strapdown attitude algorithm is initially described.
2. The composition of AHRS and the attitude calculation are introduced. After showing the attitude solutions with MEMS gyroscopes and accelerometers, magnetometers separately, the KF is used to calculating the carrier’s attitude.
3. Analyses the source of temperature error. It indicates that resent frequency and quality factor are the main factors which influence the motion displacement and structure sensitivity. The resonant frequency will generate excursion and quality factor will change with temperature variation,which will magnify the original error and it will bring great influence on the output precision. Then, we introduce thermal error compensation algorithm model.
4. The character of disturbing magnetic field is analyzed based on analyzing the error of magnetometer, and is classified into carrier magnetic field and environmental magnetic field. There are more compensation algorithm for carrier magnetic field such as the least squares algorithm based on elliptic hypothesis while less algorithm for environmental magnetic field. Therefore some work was done on the study of the topic and an anti-magnetic strategy was raised in the thesis.
At the end, a large number of experimental results prove that the temperature compensation algorithm of MEMS gyroscope and the anti-magnetic strategy proposed in this thesis are effective and have practical value.
引文
[1]王震宇.MEMS SINS/磁强计组合导航系统设计[硕士论文].哈尔滨:哈尔滨工业大学,2007.
[2]陈永冰,钟斌.惯性导航原理[M].北京:国防工业出版社,1990.
[3]蔡春龙,刘翼,刘一薇.MEMS仪表惯性组合导航系统发展现状与趋势[J].中国惯性技术报,2009,17(5):562-567.
[4]傅建国,王孝通,金良安等.基于MARG传感器的自主姿态测量新算法[J].中国惯性技术学报,2004,12(4):51-56.
[5]李跃,邱致和.导航与定位[M].北京:国防工业出版社,2008.
[6]刘建业,曾庆化,赵伟等.导航系统理论与应用[M].西安:西北工业大学出版社,2010.
[7]陆敬予,张飞虎,张勇.微机电系统的现状与展望[J].传感器与微系统,2008,27(2):1-7.
[8] David H Titterton,John L Weston.Strapdown inertial navigation technology[M].London:The Institution of Engineering and Technology,2004.
[9]刘建业,曾庆化,赵伟等.导航系统理论与应用[M].西安:西北工业大学出版社,2010.
[10]盛庆轩. MIMU/磁强计航姿参考系统研究[硕士论文].长沙:国防科学技术大学,2009.
[11] Barker N.Scott.The future of N/MEMS.IEEE Microwave Magazine,2007.
[12] Braghin Francesco,Leo Elisabetta,Resta Ferruccio.The danping in MEMS inertial sensors both at high and low Pressure levels.Nonlinear Dynamics,2008,10:79-92
[13] J.Bernstein.A Micromachined Comb-drive Tuning Fork Rate Gyroscope[C].Proceedings of IEEE MEMS,1993:143-148
[14]王宏.Z轴微机械陀螺仪温度特性的研究[D].南京:东南大学,2008
[15]程龙.Z轴微机械陀螺仪温度补偿的技术研究[D].南京:东南大学,2006
[16]王璐.组合式航向系统关键技术研究[硕士论文].西安:西北工业大学,2007.
[17]潘敏.DSP及其在捷联航姿系统中的应用[硕士论文].西安:西北工业大学,2003.
[18]刘静.基于磁阻传感器的姿态测量系统设计[硕士论文].武汉:华中科技大学,2007.
[19]秦永元.惯性导航[M].北京:科学出版社,2006.
[20] Lee J.G.Yoon,Y.L.,Mark,Tazartes.D.A,et al. Extension of Strapdown Attitude Algorithm for High-Frequency Base Motion. AIAA Journal of Guidance of Control and Dynamics.1999,13(4):738-743.
[21]以光衢等.惯性导航原理[M].北京:航空工业出版社,1987年.
[22]孙冬梅,田增山,韩令军.捷联惯导系统中四元素法求解姿态角仿真模拟[J].弹箭与制导学报,2009,29(1):51-60.
[23]祝燕华,刘建业,曾庆化等.等效旋转矢量系数优化的参数解析法[J].中国惯性技术学报,2008,16(1):49-53.
[24] Miller R B.A New Strapdown Attitude Algorithm. AIAA Journal of Guidance and Control.1983,6(4):287-291.
[25]魏资桓.捷联惯性导航算法及其实现[硕士论文].哈尔滨:哈尔滨工业大学,2008.
[26]孙章国.基于ARM的航姿参考系统研究[硕士论文].上海:上海交通大学,2010.
[27]张泽.SINS/CNS组合导航系统研究[硕士论文].哈尔滨:哈尔滨工业大学,2007.
[28]邓自立.信息融合滤波理论及其应用[M].哈尔滨:哈尔滨工业大学,2007.
[29]秦永元等.卡尔曼滤波及组合导航[M].西安:西北工业大学出版社,1998.
[30]付梦印等.Kalman滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003.
[31]宫经宽.航空机载惯性导航系统[M].北京:航空工业出版社,2010.
[32]杨云涛,石志勇,关贞珍等.地磁场在导航定位系统中的应用[J].中国惯性技术学报,2007,15(6):686-692.
[33]李海涛.加速度计/磁强计捷联惯导系统姿态解算方法研究[硕士论文].太原:中北大学,2007.
[34]黄卫权,董冀.基于MTi微惯性航姿系统的卡尔曼滤波器设计[J].自动化技术与应用,2009,28(1):54-57.
[35]朱俊华,周兆英,叶雄鹰等.微型隧道效应磁强计的设计和加工工艺研究[J].微细加工技术,2001,(1):53-55.
[36]刘俊,石云波,李杰.微惯性技术[M].北京:电子工业出版社,2005.
[37]朱利平.基于神经网络的硅微机械陀螺输出补偿系统研究[D].南京:南京航空航天大学,2005.
[38]肖定邦.蝶翼式微机械陀螺关键技术研究[D].长沙:国防科技大学,2009
[39]肖定邦,徐平,侯占强等.微陀螺静电力调频的快速收敛算法研究.传感技术学报,2008,21(3)
[40]王寿荣.微机械惯性器件理论及应用[M].南京:东南大学出版社,2000
[41] XinxinLi,Takahito Ono,YuelinWang,et al.Study on ultra-thin MEMS cantilevers-high yield fabrication and size-effect on Young s modulus of silicon[J].IEEE,2002:427-430
[42]裘安萍,苏岩,王寿荣.残余应力对z轴微机械机械振动陀螺仪性能的影响[J].机械工程学报,2005,41(6):225-234
[43]张晓明,赵剡.一种快速载体磁场补偿方法研究[J].中北大学学报,2009,30(3):286-291.
[44] Robert Smith, Andy Frost, Penny probert. A sensor system for the navigation of an underwater vehicle [J]. The International Journal of Robotics Research,1999,18(7):697-710.
[45]邱丹.组合航向系统的开发与研究[硕士论文].南京:南京航空航天大学.2007.
[46]董超,钱峰.微型姿态解算系统的抗磁干扰算法研究[J].电子测量技术,2011,34(1).
[2]陈永冰,钟斌.惯性导航原理[M].北京:国防工业出版社,1990.
[3]蔡春龙,刘翼,刘一薇.MEMS仪表惯性组合导航系统发展现状与趋势[J].中国惯性技术报,2009,17(5):562-567.
[4]傅建国,王孝通,金良安等.基于MARG传感器的自主姿态测量新算法[J].中国惯性技术学报,2004,12(4):51-56.
[5]李跃,邱致和.导航与定位[M].北京:国防工业出版社,2008.
[6]刘建业,曾庆化,赵伟等.导航系统理论与应用[M].西安:西北工业大学出版社,2010.
[7]陆敬予,张飞虎,张勇.微机电系统的现状与展望[J].传感器与微系统,2008,27(2):1-7.
[8] David H Titterton,John L Weston.Strapdown inertial navigation technology[M].London:The Institution of Engineering and Technology,2004.
[9]刘建业,曾庆化,赵伟等.导航系统理论与应用[M].西安:西北工业大学出版社,2010.
[10]盛庆轩. MIMU/磁强计航姿参考系统研究[硕士论文].长沙:国防科学技术大学,2009.
[11] Barker N.Scott.The future of N/MEMS.IEEE Microwave Magazine,2007.
[12] Braghin Francesco,Leo Elisabetta,Resta Ferruccio.The danping in MEMS inertial sensors both at high and low Pressure levels.Nonlinear Dynamics,2008,10:79-92
[13] J.Bernstein.A Micromachined Comb-drive Tuning Fork Rate Gyroscope[C].Proceedings of IEEE MEMS,1993:143-148
[14]王宏.Z轴微机械陀螺仪温度特性的研究[D].南京:东南大学,2008
[15]程龙.Z轴微机械陀螺仪温度补偿的技术研究[D].南京:东南大学,2006
[16]王璐.组合式航向系统关键技术研究[硕士论文].西安:西北工业大学,2007.
[17]潘敏.DSP及其在捷联航姿系统中的应用[硕士论文].西安:西北工业大学,2003.
[18]刘静.基于磁阻传感器的姿态测量系统设计[硕士论文].武汉:华中科技大学,2007.
[19]秦永元.惯性导航[M].北京:科学出版社,2006.
[20] Lee J.G.Yoon,Y.L.,Mark,Tazartes.D.A,et al. Extension of Strapdown Attitude Algorithm for High-Frequency Base Motion. AIAA Journal of Guidance of Control and Dynamics.1999,13(4):738-743.
[21]以光衢等.惯性导航原理[M].北京:航空工业出版社,1987年.
[22]孙冬梅,田增山,韩令军.捷联惯导系统中四元素法求解姿态角仿真模拟[J].弹箭与制导学报,2009,29(1):51-60.
[23]祝燕华,刘建业,曾庆化等.等效旋转矢量系数优化的参数解析法[J].中国惯性技术学报,2008,16(1):49-53.
[24] Miller R B.A New Strapdown Attitude Algorithm. AIAA Journal of Guidance and Control.1983,6(4):287-291.
[25]魏资桓.捷联惯性导航算法及其实现[硕士论文].哈尔滨:哈尔滨工业大学,2008.
[26]孙章国.基于ARM的航姿参考系统研究[硕士论文].上海:上海交通大学,2010.
[27]张泽.SINS/CNS组合导航系统研究[硕士论文].哈尔滨:哈尔滨工业大学,2007.
[28]邓自立.信息融合滤波理论及其应用[M].哈尔滨:哈尔滨工业大学,2007.
[29]秦永元等.卡尔曼滤波及组合导航[M].西安:西北工业大学出版社,1998.
[30]付梦印等.Kalman滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003.
[31]宫经宽.航空机载惯性导航系统[M].北京:航空工业出版社,2010.
[32]杨云涛,石志勇,关贞珍等.地磁场在导航定位系统中的应用[J].中国惯性技术学报,2007,15(6):686-692.
[33]李海涛.加速度计/磁强计捷联惯导系统姿态解算方法研究[硕士论文].太原:中北大学,2007.
[34]黄卫权,董冀.基于MTi微惯性航姿系统的卡尔曼滤波器设计[J].自动化技术与应用,2009,28(1):54-57.
[35]朱俊华,周兆英,叶雄鹰等.微型隧道效应磁强计的设计和加工工艺研究[J].微细加工技术,2001,(1):53-55.
[36]刘俊,石云波,李杰.微惯性技术[M].北京:电子工业出版社,2005.
[37]朱利平.基于神经网络的硅微机械陀螺输出补偿系统研究[D].南京:南京航空航天大学,2005.
[38]肖定邦.蝶翼式微机械陀螺关键技术研究[D].长沙:国防科技大学,2009
[39]肖定邦,徐平,侯占强等.微陀螺静电力调频的快速收敛算法研究.传感技术学报,2008,21(3)
[40]王寿荣.微机械惯性器件理论及应用[M].南京:东南大学出版社,2000
[41] XinxinLi,Takahito Ono,YuelinWang,et al.Study on ultra-thin MEMS cantilevers-high yield fabrication and size-effect on Young s modulus of silicon[J].IEEE,2002:427-430
[42]裘安萍,苏岩,王寿荣.残余应力对z轴微机械机械振动陀螺仪性能的影响[J].机械工程学报,2005,41(6):225-234
[43]张晓明,赵剡.一种快速载体磁场补偿方法研究[J].中北大学学报,2009,30(3):286-291.
[44] Robert Smith, Andy Frost, Penny probert. A sensor system for the navigation of an underwater vehicle [J]. The International Journal of Robotics Research,1999,18(7):697-710.
[45]邱丹.组合航向系统的开发与研究[硕士论文].南京:南京航空航天大学.2007.
[46]董超,钱峰.微型姿态解算系统的抗磁干扰算法研究[J].电子测量技术,2011,34(1).