基于MTi惯性测量的偏航角检测  

Yaw angle detection based on the inertial measurement MTi

作　　者：郑江送[1] 徐建军[1] 李世中[1] 乔熠晖[1] 崔瑞男[1] 

机构地区：[1]中北大学机电工程学院,太原030051

出　　处：《现代制造工程》2013年第1期108-111,共4页Modern Manufacturing Engineering

摘　　要：针对当前一些交通工具及军用飞行器的姿态测量开发难度大和周期长的问题,提出了基于惯性姿态参考系统(Motion Tracker Instrument,MTi)惯性测量的偏航角检测方法。该方法利用MTi及步进电动机等构成一个测试平台,通过获取系统实时采集当前的偏航角,并通过单片机进行姿态解算,从而判断系统是否按照设定路线前进,然后输出控制信号给电动机的驱动电路,驱动电动机向相应的方向转动。实验表明:测量结果和姿态解算的值基本一致,测试平台的运行路线正确。For the problem of difficulties and long period in the development of attitude measurement in general vehicle and mili- tary aircraft,address a deflection angle measurement method based on MTi inertial measurement. The method is based on a meas- urement platform which includes MTi, stepper motors and Microcontroller Unit（MCU） etc. Firstly the system＇ s deflection angle is obtained from the MTi in real-time,and the MCU compute attitude solution; so that it can estimate whether the system marches forward in accordance with the set route or not,and then outputs control signals to the motor,driving motor to the appropriate di- rection of rotation. The experiments show that measurement results accord with attitude solution and the movement routes of meas- urement platform is correct.

关 键 词：惯性姿态参考系统 步进电动机 偏航角 测试平台 

分 类 号：TN-9[电子电信]