基于GMR传感器的姿态检测系统设计  

Design of Attitude Detecting System Based on GMR Sensor

作　　者：林亚坤 钱正洪[1] 白茹[1] 冀亮[1] 

机构地区：[1]杭州电子科技大学磁电子中心,浙江杭州310018

出　　处：《仪表技术与传感器》2014年第8期53-55,共3页Instrument Technique and Sensor

基　　金：浙江省"磁电子材料和器件"高校创新团队项目(2009[171]);浙江省重点科技创新团队项目(2010R50010);浙江省重大科技专项(2011C11047)

摘　　要：为解决电子罗盘在运动中航向角、俯仰角和横滚角精度差、噪声大的问题,设计了一款基于巨磁阻(GMR)传感器和微惯性器件的姿态检测系统。该系统采用四元素法描述载体姿态信息,利用三轴陀螺仪输出的角速度来解算姿态。由于陀螺仪的漂移误差随时间积累,该系统利用梯度下降算法对三轴GMR传感器和三轴加速度计采集的地磁场和重力场矢量进行数据融合,动态计算最优收敛步长,逐次迭代修正陀螺漂移误差。实验结果表明:该系统在静止时能够较好补偿陀螺仪的漂移误差,在抖动测试中,该系统比电子罗盘具有更好的抑制噪声能力。In order to solve the problems of electronic compass ,which including the heading angle ,pitch angle ,roll angle＇s accuracy and noise ,an attitude detecting system based on GMR sensor and micro inertial device was designed. This system used quaternion to de- scribe the attitude information of carrier and calculated attitude using the angular velocity which was outputted by three axis gyroscope. Because the gyro drift error would be accumulated over time,the system used gradient descent algorithm to fuse the geomagnetic field and the gravitational field vector data through the three-axis GMR sensor and three-axis aceelerometer. It computed optimal convergence step dynamically and correct gyro drift error iteratively. The experimental results show that working at static the system can compensate the drift error of gyroscope better,and in jitter test its ability of noise reduction is better than the electronic compass.

关 键 词：巨磁阻 姿态检测系统 电子罗盘 陀螺仪 数据融合 四元素 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]