CN103743400B - A kind of magnetic heading resolver - Google Patents
A kind of magnetic heading resolver Download PDFInfo
- Publication number
- CN103743400B CN103743400B CN201310400162.XA CN201310400162A CN103743400B CN 103743400 B CN103743400 B CN 103743400B CN 201310400162 A CN201310400162 A CN 201310400162A CN 103743400 B CN103743400 B CN 103743400B
- Authority
- CN
- China
- Prior art keywords
- magnetic heading
- signal
- module
- course
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
Abstract
Magnetic heading resolver according to the present invention is a kind of device being applied in Magnetic Heading System, and which mainly utilizes magnetic field of the earth measurement direction.To solve to be subject to environmental effect when current Magnetic Heading System carries out signal processing using analog circuit, stability is poor, the problems such as systematic error is big, magnetic heading resolver in the present invention carries out signal sampling process using high-precision AD single-chip microcomputer, carry out course resolving, sine and cosine therein and arctan function are realized using cordic algorithm, therefore, it is possible to effectively reduce external environment condition to circuit the other factors such as temperature impact, simultaneously, function algorithm is resolved using the course used in the present invention, Magnetic Heading System error can be reduced, improve the overall accuracy of Magnetic Heading System.
Description
Technical field
The present invention relates to the magnetic heading resolver in a kind of Magnetic Heading System, and in particular to a kind of to be based on cordic algorithm
Course resolver.
Background technology
Magnetic Heading System, also known as magnetic compass, is a kind of device of utilization magnetic field of the earth measurement direction.To make on unmanned plane
With as a example by, the output of Magnetic Heading System is the head sensing of unmanned plane.Since the sixties in last century, as target practice training target
Unmanned plane is paid attention to, and remote magnetic compass of reading is as the advantage of volume, weight, cost etc. is answered in unmanned plane heading measure
With, being combined with vertical gyro afterwards, occurred in that platform-type Magnetic Heading System, the shortcoming of the system is complex structure, and volume is big, cost
It is high.Single-chip microcomputer and microsystems technology are developed rapidly, and the particularly application of single-chip microcomputer makes magnetic heading measurement enter new development
Period, complicated frame for movement and servo system are replaced by the power of single-chip microcomputer, and complicated calculating is also no longer a difficult problem,
The digital Magnetic Heading System of i.e. so-called strapdown.The system measures earth's magnetic field in aircraft longitudinal axis, transverse axis using magnetic sensor
With the component of vertical pivot, the angle of pitch is obtained from vertical gyro and incline angle signal, go out magnetic heading with single-chip microcomputer directly calculation.Magnetic heading
System has broken away from the frame for movement of complexity first, and reliability, certainty of measurement are increased substantially, and production cost declines to a great extent.
When Magnetic Heading System is used on aircraft, magnetic heading is defined as the projection in the horizontal plane of aircraft longitudinal axis direction with locality
The angle of magnetic meridian (magnetic north), is represented with 0 ° to 360 ° of angle value, aircraft to due east fly when, its value be 90 °.
At present, the digital Magnetic Heading System of strapdown has become comparatively ideal magnetic heading measurement device[1], schematic diagram such as Fig. 7 institutes
Show.System by magnetic sensor, analog circuit, A/D change-over circuits and singlechip group into.Magnetic sensor measures earth's magnetic field
Component H on aircraft longitudinal axis, vertical pivot and transverse axisx、HyAnd Hz, pitching angle theta and inclination angle of the Jing analog circuitry processes together with aircraft
γ sends into single-chip microcomputer Jing after A/D conversions.In the case of free from error, Hx、Hy、HzAnd the relation of θ, γ and course angle Φ is：
Wherein H0For geomagnetic field horizontal component, α is magnetic dip angle.Course angle according toTry to achieve.
But with the continuous development of unmanned air vehicle technique, to magnetic-field measurement in terms of form, stability and accuracy all
Harsher requirement is proposed, the temperature stability of traditional Magnetic Heading System output signal is poor, the formula letter resolved to magnetic heading
Single, systematic error is big, and accuracy is difficult to reach high requirement.
The content of invention
In order to solve the above problems, the present invention provides a kind of magnetic heading resolver in Magnetic Heading System, utilizes
One single-chip microcomputer collection numeral fluxgate output signal simultaneously carries out course resolving, and sine and cosine therein and arctan function are utilized
Cordic algorithm is realized.Complete original using the program in single-chip microcomputer using the magnetic heading resolver in the present invention is as more as possible
Analog circuit function, effectively can reduce external environment condition to circuit the other factors such as temperature impact, meanwhile, using this
Course used in bright resolves function algorithm, can reduce Magnetic Heading System error, improves the overall accuracy of Magnetic Heading System.
A kind of magnetic heading resolver of the present application, the device include peripheral support circuit, external signal modulate circuit,
Magnetic heading resolves computing module, it is characterised in that：
The auxiliary circuit of the outside provides the angle of pitch and inclines angle signal；
The external signal modulate circuit carries out signal condition；
The magnetic heading resolves computing module from the internal High Performance SCM with high-precision AD, to from Magnetic Heading System
The signal of acquisition is sampled, and then carries out analog digital conversion, and the numbers such as process, error compensation, course resolving are filtered to signal
Word processing, finally gives stable magnetic heading signal, and with host computer real-time Communication for Power.
The magnetic heading of the present invention resolves computing module, is further characterized in that：The magnetic heading resolves computing module by initializing
Module, system-monitoring module, AD calibration modules, signal acquisition module, course resolve functional module, synchronous debugging module, error
Compensation functions module and communication function module composition.
Course in the present invention resolves functional module, is further characterized in that：The course resolves functional module includes digital filter
Ripple, error compensation, trigonometric function are calculated, posture changing, course process of solution.
Description of the drawings
Fig. 1, magnetic heading resolver operation principle block diagram according to the present invention.
Fig. 2, peripheral support circuit figure according to the present invention.
Fig. 3, external signal modulate circuit figure according to the present invention.
Fig. 4, magnetic heading according to the present invention resolve computing circuit figure.
Fig. 5, signal acquisition circuit figure according to the present invention.
Fig. 6 is the magnetic heading solver flow chart of the present invention.
Fig. 7 is the digital Course Measure System schematic diagram of strapdown.
Specific embodiment
Magnetic heading resolver according to the present invention includes peripheral support circuit, external signal modulate circuit, magnetic heading solution
Calculate three parts of computing module.Fig. 1 (includes Magnetic Heading System and communication system for the operation principle block diagram of magnetic heading resolver
System).
Outside auxiliary circuit provides the angle of pitch and inclines angle signal, and external signal modulate circuit carries out signal condition.Magnetic
Heading system is sampled to the angle of pitch, inclination angle and fluxgate sensor signal, resolves computing module by magnetic heading and obtains appearance
State signal and geomagnetic field component, then carry out analog digital conversion, and the numbers such as process, error compensation, course resolving are filtered to signal
Word processing, finally gives stable magnetic heading signal, and with host computer real-time Communication for Power.
1st, peripheral support circuit
Outside auxiliary circuit provides the angle of pitch for magnetic heading resolver and inclines angle signal.
2nd, external signal modulate circuit
The angle of pitch, the voltage signal that inclination angle signal is 0～+5V, and the input range of ADC is 0～+2.5V, therefore
Needs carry out pretreatment to the angle signal.Experiment specifies that the condition that modulate circuit needs meet is：
(1) 0～+5V is input into, correspondence is output as+0.25V～+2.25V；
(2) when being input into hanging, 0 degree of signal, i.e. 1.25V are output as；
Circuit amplifies and current potential translation functions as shown in figure 3, mainly completing signal.
3rd, magnetic heading resolves computing module
In the present invention, magnetic heading resolves computing module from the internal High Performance SCM with high-precision AD, mainly completes to adopt
The each component signal of sample, and process is filtered to which, course resolving is then carried out, and is communicated with host computer, transmit course
Signal and reception host computer function.
Magnetic heading resolves computing module to be included：Initialization module, system-monitoring module, AD calibration modules, signals collecting mould
Block, course resolve functional module, synchronous debugging module, error compensation function module and communication function module.Wherein, initialize
Block code can be simply provided with software and be automatically generated；System monitoring subroutine module calls corresponding son by state flag bit
Program；AD calibration modules are started by software and can be automatically performed.These subroutine module flow processs are simple, belong to prior art.
Magnetic heading resolves the processor of single chip computer ADC of computing module and has five tunnel input signals, wherein three road fluxgate letters
Number Differential Input, two-way attitude angle signal single ended input, ADC are operated in continuous conversion regime, are exported using SIN3 wave filter.Profit
Interrupt storage sampled data with ADC, by timer interruption control switching input channel and input mode, each passage is repeatedly adopted
Sample, so that Filtering Processing is done in the program below, sampled data circulation is stored in piece on XRAM, and signal acquisition module flow process is as schemed
Shown in 5.
(1) magnetic heading resolves functional module step
Magnetic heading resolves functional module includes digital filtering according to calculation procedure, and error compensation, trigonometric function are calculated, attitude
Conversion, course process of solution.The program uses many algorithms, computationally intensive, therefore selects rational algorithm, carries out Module Division
It is extremely important with software optimization.
In single-chip microcomputer, data x=2N, N represents data valid bit length.
Wherein θ is course angle.By formula (3-3) according to the suitable data valid bit of system requirements accuracy selection, in the present invention
The operand being related to uses double-byte representation.
Below each functional module is discussed in detail.
(1) digital filtering
16 AD of systematic sampling, high resolution are also easily affected by external interference, therefore the not only design by hardware
Reduce interference, the process of software is also very effective.AD provides basis for Filtering Processing in the multiple data of each channel sample.It is single
The data filtering methods of piece machine generally sampling have：Middle position value filtering, weighted average filtering, moving average filtering, low-pass filtering are multiple
Close filtering etc.[31].The present invention compared for median (method 1), rolling average (method 2) and remove extreme mean (method 3) etc.
Three kinds of filtering methods, error amount are to obtain under different input conditions, and comparing result is shown in Table 3-1.
Tri- kinds of filtering method errors of table 3-1 contrast (unit：10-4V)
As can be seen that effect is best by the way of moving average filtering.First three passage uses complement code storage, after
Two, face passage is stored without symbol, therefore algorithm design will also be distinguish between.
(2) error compensation and out-of-limit process
Three road signal zero-bits of digital fluxgate output, sensitivity etc. are inconsistent, and and through the amplification of the system, sampling
Etc. link, there is error in the input signal for sampling, therefore should carry out error compensation to which first.Known according to error analyses, magnetic
Open gate exports the error compensation relational expression of three axis signal components：
Attitude angle signal is provided by external reference voltages, and the attitude angle that the present invention sets offer is error free, and error only exists this
The conditioning of system and sampling element, therefore compensation calculation is relatively easy, relational expression is：
Compensation matrix coefficient is stored in advance in Flash, on single-chip microcomputer after electricity, is loaded in ram in slice.Input signal Jing
Free from error component signal is obtained after compensation calculation.
But in practical operation, when input signal is at maximum, due to the presence disturbed, the model of regulation may be exceeded
Enclose, therefore out-of-limit process should be carried out.As this situation is only present in input in extreme value, therefore amplitude limit is directly carried out,
Without affecting system-computed.Three component signals are done after amplitude limiting processing respectively, output is fully achieved down-stream requirement.
(3) trigonometric function is resolved
In posture changing is calculated, the sin cos functionses value used by attitude angle signal, it is therefore desirable to resolve attitude angle three
Angle function.
The computational methods of trigonometric function have look-up table], polynoimal approximation, rational number it is approximate, CORDIC (Coordinate
Rotation Digital Computer) algorithm etc..Wherein look-up table speed is fast, and algorithm is simply easily realized, but it is empty to take storage
Between it is too big, especially when precision prescribed is high；Polynoimal approximation can reach higher precision, but general approximating polynomial exponent number
Height, thus it is computationally intensive, and consumption accounts for substantial amounts of hardware resource, calculating speed is restricted.；It is near that rational number approximately compares multinomial
Higher precision is more easily reachd like method, but piecemeal operation takes the substantial amounts of calculating time；Cordic algorithm is coordinate rotation number
Word computational methods, be well suited for for trigonometric function, hyperbola, index, logarithm calculating, it is by basic plus and shift operation
Replace multiplying, calculating speed is fast.Therefore the present invention selects cordic algorithm to resolve.
In actual applications, some improved cordic algorithms, wherein MVR-CORDIC (Modified are proposed again
Vector Rotational CORDIC) execution speed is fast, execution efficiency is high, algorithm complex is little, and the present invention selects MVR-
Cordic algorithm is realized.MVR-CORDIC algorithms are used as a kind of iterative algorithm calculated for Vector Rotation, its basic thought
It is that a certain special angle of pre-rotation is decomposed, is represented with the linear combination of one group of prespecified basic transform angle set, that is, carried out
The repeatedly rotation of basic angle.Expression formula is：
Wherein μ (i) ∈ { -1,0,1 }, represent the direction of i ＆ lt rotation；S(i)∈{0,1,2,…N-1}；α [S (i)]=
arctan(2-S(i)), S (i) corresponding basic angle element when referring to i ＆ lt micro- rotation；ξ represents that the angle after iteration is remaining
Error.Generally, iterationses Rm＜ ＜ W.
The number of elements of basic transform angle set is determined by data valid bit length.Relation is as follows：
Wherein m is the minimum number of elements of basic transform angle set, and general basic angle element is prestored in the form of a list
In single-chip microcomputer.
Cordic algorithm has two kinds of computation schemas of rotary mode and vector pattern, and wherein rotary mode is used to calculate input angle
The sine of θ, cosine and tangent value；Vector pattern is used to calculate the length and angle that give vector.Iterative equation is as follows：
In rotary mode, μ (i) is sign function, and value (uses Z afterwards by Z (i)iRepresent) symbol determine.Initialize first
X (0)=1, Y (0)=0, Z (0)=θ.Iteration starts, and choosing suitable S (i) lookup α [S (i)] makes | Z (i+1) | minimum, this
When μ (i), S (i) substitute into iterative equation in formula 1,2 in calculate X (i+1) and Y (i+1), so far complete an iteration mistake
Journey.Through RmAfter secondary iteration, equation is changed into：
Wherein
In above formula, due to the presence of scale factor P and uncertain, therefore calculating and the vector compensation of scale factor need to be added
Step, even K=1/P,
Then iteration result is finally：
As can be seen that MVR-CORDIC iteration can obtain the sinusoidal and cosine value of angle, θ simultaneously, and precision is easily met
Require.
In program, the flow process of realizing of algorithm is：
A) angle pretreatment：Any input angle θ is converted into [0 °, 45 °) in value θ ', and encode for transformation process；
B) CORDIC iteration：The functional value of θ ' correspondences formula (3-9) is obtained by iteration；
C) scale factor compensation：Clear out the final trigonometric function value of θ '；
D) functional value is processed：According to coding, the functional value of θ ' is converted into into the functional value of θ.
The algorithm is utilized twice, is obtained the trigonometric function value at the angle of pitch and inclination angle respectively, and is stored in single chip microcomputer
In RAM, for posture changing.
(4) posture changing
Posture is arbitrary, when course resolves, needs the component of signal conversion in the earth's magnetic field for measuring to arrive the angle of pitch
With incline angle signal be all zero when output state value, that is, carry out posture changing, calculation relational expression is[1]：
Wherein θ, γ are respectively the angle of pitch and tilt values, X1,Y1,Z1For the component of signal of input, X, Y, Z are arrived for conversion
Component of signal value after horizontality.
In program, these data are all real-time changes, are thus stored in single-chip microcomputer ram in slice, but as storage is held
Amount is limited, and subprogram is divided into the calculating of two steps relational expression, i.e.,：
With
Thus, needed originally to store 18 coefficients, and be changed into 8 coefficients, greatly reduce and take up room, amount of calculation was also corresponding
Reduce.After calculating, obtain component of signal of the earth's magnetic field on three direction of principal axis when aircraft puts down winged and resolve for course.
(5) course resolves
Course solution formula is：
Wherein X, Z are respectively θ=0, component of the earth's magnetic field in aircraft longitudinal axis X and transverse axis Z during γ=0.
As can be seen that course resolves carries out arctangent computation.Vector pattern of the present invention using MVR-CORDIC algorithms
Realize, iterative equation is shown in formula (3-8).
In vector pattern, i.e. μ (i) is sign function, and value is determined that by the symbol of Y (i) X (0), Y (0) (use X afterwards0,Y0) be
Two two component values for giving vector, Z (0)=0.Iteration starts, and choosing suitable S (i) makes Y (i+1) minimum, μ now
Corresponding X (i+1) is sought in the formula 1 of (i), S (i) substitution iterative equation, the α [S (i)] for obtaining that tabled look-up by μ (i) and S (i) seeks Z (i+
1), so far complete an iteration process.Through RmAfter secondary iteration, output result is：
Wherein
The compensation process of calculating plus scale factor and Vector Mode is needed also exist for, even K=1/P,
X (i+1) '=K*X (i+1)
Iteration result is finally：
As can be seen that through MVR-CORDIC iteration, not only obtained arc-tangent value, also incidentally obtained the mould of vector,
Precision meets requirement.
Program realizes the flow chart that course resolves as shown in fig. 6, what iteration obtained is only corresponding number with angle value
According to, in addition it is also necessary to actual angle value is further converted to, to export in host computer.The resolution of default angle is
0.1°。
(2) synchronous debugging module
After system to be set to synchronous debugging pattern, into synchronous mode, while synch command is sent, subsequently into etc.
State to be returned, the synchronous debugging result that reception system is returned, and result is passed to host computer, debugging terminates, and exits debugging mould
Formula.
By SMBus bus communications between single-chip microcomputer, single-chip microcomputer can directly invoke phase with host computer then by serial communication
Should be communicated subprogram.
(3) error compensation subprogram
When course resolves, error compensation matrix compensation sensor signal error is needed.Error compensation subprogram is being received
To after the compensation order of host computer, into error compensation program, initialization error coefficient matrix C is unit battle array, and matrix D is zero moment
Battle array.Now system output course angle and each sensor signal components, the enough information of host computer acquisition, calculate coefficient matrix simultaneously
Send, system is received, updates coefficient matrix, and returns reception state to host computer, exits compensation program.
(4) serial communication subprogram
(1) SMBus bus communications subprogram
Subprogram is mainly used in the communication of the system and sensing system during system debug.Send to sensing system and debug
Order, waits debugging return state to be received, therefore only defines main transmitter and from receptor mode.Define flag bit area distribution to send
Data type, set completion statuses flag bit, to receive return state process.Agreement and sensing system SMBus
Communication protocol is identical.
(2) serial communication subprogram
Using host computer as main frame, single-chip microcomputer is slave to system, is communicated using serial ports.Regulation serial ports layered communication association
Discuss and be：
A) asynchronous serial communication protocol：Each data byte totally 10：One start bit, eight data bit and a stopping
Position；；
B) intermediate layer protocol：After hardware connection, handshake is received, and returns corresponding answer signal；Time-out is provided
Control, for repeating to send order；One complete frame includes：Frame head, frame type, length, data, wherein mistake redundancy, frame
First and frame type uses same byte；Redundancy is obtained by the mode sued for peace, i.e. the byte of previous transmissions and check byte
With for zero, wrong data is directly lost；There is provided receiving data buffering, it is allowed to the situation that an order is not completed before execution
It is lower to receive second order.Because in work, host computer sends same commands always, therefore does not need sequential control.The system
Without carrying out flow-control and link control.
C) application layer：External command is received, is then directly performed according to current monolithic machine state or is waited pending；Receive
External data, caches to corresponding data cell；Corresponding execution state flag bit is provided.
Magnetic heading serial communication program includes：
A) router：Data are sent to host computer and status information is returned；
B) receive program：Receive and cache order and the data of host computer；
C) data check：Data and order to receiving are verified, and whether inspection receiving data is correct；
D) command interpretation and execution：The external command for receiving is converted into inside single-chip microcomputer and is ordered accordingly, and perform life
Order；
Signal procedure is performed using interrupt mode.When system works, order is received, send magnetic heading angle data；It is being
During system debugging, the outside data sent, and data storage are received；The outside order sent is received, is explained and is performed order；Output
Corresponding course information, internal system data and status information.
Using the magnetic heading resolver of above-mentioned module composition, due to the high accuracy used in the magnetic heading resolver
AD single-chip microcomputers, can effectively improve the calculating speed of magnetic heading, and reduce impact of the external environment condition to Magnetic Heading System；Meanwhile,
Using magnetic heading computation in the present invention, error can be significantly reduced, improve the precision of magnetic heading.
Claims (3)
1. a kind of magnetic heading resolver, the device include that peripheral support circuit, external signal modulate circuit, magnetic heading resolve fortune
Calculate module, it is characterised in that：
The auxiliary circuit of the outside obtains the angle of pitch from vertical gyro and inclines angle signal；
The external signal modulate circuit carries out Signal Pretreatment to the angle of pitch, inclination angle signal, completes signal and amplifies flat with current potential
Shifting function；
The magnetic heading resolves computing module and selects High Performance SCM ADC of the inside with high-precision AD, the single-chip microcomputer to have five tunnels
Input signal, wherein three road fluxgate signal differential inputs, two-way attitude angle signal single ended input, ADC are operated in continuous conversion
Mode, is exported using SIN3 wave filter, interrupts storage sampled data using ADC, by timer interruption control switching input channel
And input mode, each passage multiple repairing weld, so that Filtering Processing is done in the program below, sampled data circulation is stored in piece
On XRAM, the signal to obtaining from Magnetic Heading System is sampled, and then carries out analog digital conversion, signal is moved averagely
Filtering Processing, error compensation, course resolve digital processing, finally give stable magnetic heading signal, and lead to host computer in real time
Letter；
Wherein, the magnetic heading resolves computing module and average filter process is moved to signal.
2. magnetic heading resolver as claimed in claim 1, is further characterized in that：The magnetic heading resolves computing module by initial
Change module, system-monitoring module, AD calibration modules, signal acquisition module, course resolves functional module, synchronous debugging module, mistake
Difference compensation functions module and communication function module composition.
3. course resolver as claimed in claim 2, is further characterized in that：The course resolves Implement of Function Module numeral filter
Ripple, error compensation, trigonometric function are calculated, posture changing, and course resolves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310400162.XA CN103743400B (en) | 2013-09-05 | 2013-09-05 | A kind of magnetic heading resolver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310400162.XA CN103743400B (en) | 2013-09-05 | 2013-09-05 | A kind of magnetic heading resolver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103743400A CN103743400A (en) | 2014-04-23 |
| CN103743400B true CN103743400B (en) | 2017-04-05 |
Family
ID=50500443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310400162.XA Expired - Fee Related CN103743400B (en) | 2013-09-05 | 2013-09-05 | A kind of magnetic heading resolver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103743400B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104913777A (en) * | 2015-05-15 | 2015-09-16 | 上海集成电路研发中心有限公司 | Error compensation algorithm of geomagnetic sensor application system |
| CN105243263B (en) * | 2015-09-09 | 2018-07-31 | 南京理工大学 | Two increment Research on Rotation Vector Attitude Algorithm IPs |
| CN105891755B (en) * | 2016-02-25 | 2018-07-03 | 吉林大学 | The bearing calibration of aircraft hanging fluxgate magnetic gradient tensor instrument |
| CN106403933B (en) * | 2016-08-30 | 2019-10-18 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of the magnetic heading signal compensation and detection method of inertia heading and attitude system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4300390A (en) * | 1979-01-24 | 1981-11-17 | Nippon Telegraph & Telephone Public Corporation | Apparatus for determining positional coordinates utilizing the terrestrial magnetism as a directional reference |
| CN101532837A (en) * | 2009-04-28 | 2009-09-16 | 宝鸡市博远信航电子科技有限责任公司 | Device for calibrating aircraft magnetic compasses |
| CN101629823A (en) * | 2009-07-27 | 2010-01-20 | 赵柯 | Correction method for the deviation of magnetic compass |
| CN201819983U (en) * | 2010-10-28 | 2011-05-04 | 上海海事大学 | PCB (printed circuit board) of digital flux-gate magnetometer |
-
2013
- 2013-09-05 CN CN201310400162.XA patent/CN103743400B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4300390A (en) * | 1979-01-24 | 1981-11-17 | Nippon Telegraph & Telephone Public Corporation | Apparatus for determining positional coordinates utilizing the terrestrial magnetism as a directional reference |
| CN101532837A (en) * | 2009-04-28 | 2009-09-16 | 宝鸡市博远信航电子科技有限责任公司 | Device for calibrating aircraft magnetic compasses |
| CN101629823A (en) * | 2009-07-27 | 2010-01-20 | 赵柯 | Correction method for the deviation of magnetic compass |
| CN201819983U (en) * | 2010-10-28 | 2011-05-04 | 上海海事大学 | PCB (printed circuit board) of digital flux-gate magnetometer |
Non-Patent Citations (2)
| Title |
|---|
| "改进的MVR-CORDIC算法在磁航向测量中的应用";冯文光等;《测控技术》;20091231;第28卷(第6期);正文第40-42页 * |
| "组合航向系统的开发与研究";邱丹;《中国优秀硕士学位论文全文数据库》;20090115;正文第24-32页、第36-49页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103743400A (en) | 2014-04-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103743400B (en) | A kind of magnetic heading resolver | |
| CN108061855A (en) | A kind of globular motor rotor position detecting method based on MEMS sensor | |
| CN108225370B (en) | Data fusion and calculation method of motion attitude sensor | |
| CN103712598B (en) | Attitude determination method of small unmanned aerial vehicle | |
| CN103640480B (en) | A kind of vehicle gear recognition method and device | |
| CN102759356B (en) | Dynamic carrier attitude measurement system and method based on MEMS sensors | |
| CN109685852B (en) | Calibration method, system, equipment and storage medium for camera and inertial sensor | |
| CN109781059A (en) | Spaceborne spot beam anternma pointing accuracy assessment system over the ground | |
| CN114216456A (en) | Attitude measurement method based on IMU and robot body parameter fusion | |
| CN107449422A (en) | A kind of high dynamic carrier pose real-time measurement apparatus | |
| CN109737941A (en) | A kind of human action method for catching | |
| CN104316080A (en) | Device for resolving tilt compensation quaternion of attitude gyroscope | |
| CN104697549A (en) | Calibration system and method for MEMS-MIMU (Micro-Electromechanical System-Miniature Inertial Measurement Unit) | |
| CN102346486B (en) | Attitude control IP core based on PD control law and satellite attitude control moment calculation system using the same | |
| CN111412900B (en) | Digital attitude compensation and wave measurement system and control method | |
| CN116481564B (en) | Polar region double-inertial navigation collaborative calibration method based on Psi angle error correction model | |
| CN110142764B (en) | Data fusion processing system and processing method of moment attitude wireless sensor | |
| CN104048658A (en) | Method to reduce data rates and power consumption using device based on attitude quaternion generation | |
| CN106895832B (en) | A kind of angular velocity signal analogy method of Gyro | |
| Shen et al. | Design and realization of low-cost, fast and high-precision fog north finder | |
| CN107577158A (en) | Underwater operation level ROV navigation simulation system and its control method | |
| CN109737939B (en) | Method and device for realizing omnibearing installation of electronic compass | |
| CN114608516A (en) | Appearance equipment is surveyed to miniaturized radar developments | |
| CN208269926U (en) | electronic compass | |
| CN113848780B (en) | High maneuvering platform attitude resolving device and method under multi-core heterogeneous processor architecture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20170905 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |