一种测量地磁方位的旋转跟踪算法及其实现研究  

A Spin Tracing Algorithm of Measuring Magnetic Bearing and Its Implementation

作　　者：付永庆[1] 张林[2] W.Kinsner 

机构地区：[1]哈尔滨工程大学信息与通信工程学院,哈尔滨150001 [2]哈尔滨工程大学水声工程学院,哈尔滨150001 [3]Department of Electrical & Computer Engineering,University of Manitoba,WPG,MB R3T 5V6,Canada

出　　处：《仪器仪表学报》2005年第5期502-505,共4页Chinese Journal of Scientific Instrument

摘　　要：通过分析磁方位传感器的原理建立了一个正交投影矢量,引用三角变换导出了一个控制跟踪解算方位数据过程的理论公式,对算法的实现步骤和稳定性问题进行了讨论,并建立了跟踪步长Δβ和步数Nmax之间的关系,在具有CPU硬核的FPGA上实现了该算法,实验数据表明该算法方位测量精度高,角跟踪速度有显著改善。By analyzing a magnetic bearing sensor's operating principle, an orthogonal projection vector is structured. Then, a theoretic expression of a spin-tracing algorithm (STA) is derived which can be used to control the tracing computation process of getting azimuth data by exploiting the triangle transform. The structure and stability of the algorithm are also discussed. Furthermore, a relation between the tracing step length Δβ and the maximum computation step number N_~max is set up. The STA algorithm has been implemented as a system-on-chip based on an FPGA with CPU hardcore. The experimental results show that our algorithm is excellent not only in improving upon the system accuracy, but also in improving upon the azimuthal motion velocity.

关 键 词：跟踪算法 磁方位 旋转 方位传感器 稳定性问题 正交投影 理论公式 方位数据 三角变换 实现步骤 FPGA 测量精度 跟踪速度 CPU 数据表 步数 硬核 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TN953[自动化与计算机技术—控制科学与工程]