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载体的姿态测量是载体进行预计轨迹运动的基础。姿态测量有多种方式 ,其中采用磁场传感器测量大地磁场确定航向的方法由于结构简单、体积小、重量轻、启动迅速、成本低等特点 ,自古至今一直得到应用。本课题在此基础上 ,利用微机电系统 (MEMS)技术 ,设计了由微机电传感器组合而成的微型方位水平仪 ,该系统由三轴微加速度计和三轴微磁强计组成。利用大地磁场和重力场在地理坐标系和载体坐标系之间的方向余弦转换进行绝对角度解算得到姿态角。该微型姿态测量系统体积小、重量轻、功耗低、启动快、无长期漂移 ,可进行全姿态动态连续测量 ,测角精度为± 0 .5°(俯仰和滚转 )、± 0 .7°(航向 )。
The attitude measurement of the carrier is the basis for the carrier to make the expected orbital motion. Attitude measurement in a variety of ways, including the use of magnetic field sensor to measure the direction of the Earth’s magnetic field to determine the method due to simple structure, small size, light weight, fast start, low cost, and so has been applied since ancient times. On the basis of this subject, this paper designs a micro azimuth level instrument which is made up of micro-electromechanical sensors by using MEMS technology. The system consists of three-axis micro-accelerometer and three-axis micro-magnetometer. The attitude angles are obtained by solving the absolute angle using the direction cosine transformation between the geographic coordinate system and the vector coordinate system by using the earth magnetic field and the gravity field. The miniature attitude measurement system is small, light weight, low power consumption, fast start-up, no long-term drift, and can perform all-attitude dynamic continuous measurement with angle accuracy of ± 0.5 ° (pitch and roll), ± 0.7 course).