激光准直系统的姿态测量装置研制
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摘要
随着激光准直技术的不断发展,激光准直系统在水利工程、农业机械、国防科技、钻井勘探、铁路修筑、隧道挖掘等多个领域得到了广泛应用。利用激光具有的方向性强、单色性好、能量集中以及相干性好等普通光源无法比拟的优点,激光准直系统可以在恶劣环境条件下完成长距离、高精度的监测任务。然而,激光准直系统的各个部件一般是由人工安装和调节,定位过程易产生较大误差。激光准直系统的姿态测量装置弥补了这一缺点,可提高测量精度。全固态电子罗盘作为一种姿态测量装置应用于激光准直系统中,使系统数字化、智能化。
本文从磁阻传感器和加速度计的工作原理出发,首先分析了电子罗盘的姿态测量原理,推导了姿态角度的计算过程。然后基于该测量原理,利用三轴磁阻传感器和三轴MEMS加速度计设计了硬件电路,以DSP为核心采集数据并完成角度计算。此后,通过对测量系正交和增益误差问题建模,采用浮点编码遗传算法设计解决该问题的新方法,以数字仿真验证了该方法的可行性。DSP软件设计采用了结构化程序设计思想,详细分析了各个功能模块的设计流程。最后,通过实验测试了本装置的性能。
经过详细的实验,验证了本装置可正常运行,完成姿态角度计算和误差修正,系统稳定性和可重复性良好。数据滤波效果对本装置的稳定性和可重复性有较大影响,改进滤波方式可有效提高此性能。实验验证了浮点编码遗传算法的可行性,可通过增加原始数据、增大搜索力度和改进算法等方法提高寻优精度。各项测试实验为进一步改进本设计提供了实验基础和方法论证。
With the increasing development of Laser collimation technology, laser collimation system is widely used in many fields, such as hydraulic engineering, agricultural machinery, defence-related science and technology, exploration drilling, railway construction and tunneling. Laser collimation system could complete the long-distance and high-precision monitoring task under the condition of harsh environments, utilizing the advantages of laser well directional property, good monochromaticity, energy concentration and strong coherent that ordinary light source could not be compared with. However, because the installation and regulation of each component in laser collimation system is manual commonly, localization process leads to large errors easily. Attitude measurement device of laser collimation system makes up for the shortcoming, improving the measurement accuracy. As a kind of attitude measurement device, solid-state electronic compass could be applied to laser collimation system that made it digital and intelligent.
According to the working principle of the magnetoresistive sensor and accelerometer, attitude measurement principle of the electronic compass was analyzed firstly, and the calculation of the attitude angle was derived. Then hardware circuit was designed with three-axis magnetoresistive sensor and three-axis MEMS accelerometer based on the measurement principle. Data collection and angle calculation were completed with the core of DSP. Afterwards, using real coded genetic algorithm, a new method was designed that could solve the problem of orthogonal error and gain error in measuring system from the problem modeling. Digital simulation verified the feasibility of this method. Structured programming DSP software was designed with the concept of structured programming, and the design flow of each functional module was analyzed in detail. Finally the performance of the device was tested by experiments.
After the detailed experiments, it was verified that the device could work normally and accomplish the attitude angle calculation and error correction. The system stability and repeatability is well. Data filtering is of great influence on the stability and repeatability of the device, so the performance could be improved by better filtering methods. The feasibility of real coded genetic algorithms was validated by the experiments. Optimization accuracy could be improved by means of increasing original data, search efforts enlargement and improved algorithm. Each test experiment provided an experimental basis and method demonstration of the further research.
本文从磁阻传感器和加速度计的工作原理出发,首先分析了电子罗盘的姿态测量原理,推导了姿态角度的计算过程。然后基于该测量原理,利用三轴磁阻传感器和三轴MEMS加速度计设计了硬件电路,以DSP为核心采集数据并完成角度计算。此后,通过对测量系正交和增益误差问题建模,采用浮点编码遗传算法设计解决该问题的新方法,以数字仿真验证了该方法的可行性。DSP软件设计采用了结构化程序设计思想,详细分析了各个功能模块的设计流程。最后,通过实验测试了本装置的性能。
经过详细的实验,验证了本装置可正常运行,完成姿态角度计算和误差修正,系统稳定性和可重复性良好。数据滤波效果对本装置的稳定性和可重复性有较大影响,改进滤波方式可有效提高此性能。实验验证了浮点编码遗传算法的可行性,可通过增加原始数据、增大搜索力度和改进算法等方法提高寻优精度。各项测试实验为进一步改进本设计提供了实验基础和方法论证。
With the increasing development of Laser collimation technology, laser collimation system is widely used in many fields, such as hydraulic engineering, agricultural machinery, defence-related science and technology, exploration drilling, railway construction and tunneling. Laser collimation system could complete the long-distance and high-precision monitoring task under the condition of harsh environments, utilizing the advantages of laser well directional property, good monochromaticity, energy concentration and strong coherent that ordinary light source could not be compared with. However, because the installation and regulation of each component in laser collimation system is manual commonly, localization process leads to large errors easily. Attitude measurement device of laser collimation system makes up for the shortcoming, improving the measurement accuracy. As a kind of attitude measurement device, solid-state electronic compass could be applied to laser collimation system that made it digital and intelligent.
According to the working principle of the magnetoresistive sensor and accelerometer, attitude measurement principle of the electronic compass was analyzed firstly, and the calculation of the attitude angle was derived. Then hardware circuit was designed with three-axis magnetoresistive sensor and three-axis MEMS accelerometer based on the measurement principle. Data collection and angle calculation were completed with the core of DSP. Afterwards, using real coded genetic algorithm, a new method was designed that could solve the problem of orthogonal error and gain error in measuring system from the problem modeling. Digital simulation verified the feasibility of this method. Structured programming DSP software was designed with the concept of structured programming, and the design flow of each functional module was analyzed in detail. Finally the performance of the device was tested by experiments.
After the detailed experiments, it was verified that the device could work normally and accomplish the attitude angle calculation and error correction. The system stability and repeatability is well. Data filtering is of great influence on the stability and repeatability of the device, so the performance could be improved by better filtering methods. The feasibility of real coded genetic algorithms was validated by the experiments. Optimization accuracy could be improved by means of increasing original data, search efforts enlargement and improved algorithm. Each test experiment provided an experimental basis and method demonstration of the further research.
引文
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[39]胡海滨,林春生,龚沈光.基于共轭次梯度法的非理想正交三轴磁传感器的修正[J].数据采集与处理,2003,1(18)：88-91
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[41]林春生,向前,龚沈光.三轴磁强计正交误差分析与效正[J].探测与控制学报,2005,27(2)：9-12
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[44]J. F. Vasconcelos, G. Elkaim, C. Silvestre. A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame[C]. IFAC Workshop on Navigation, Guidance, and Control of Underwater Vehicles, Killaloe, Ireland,2008
[45]Timo Pylvanainen. Automatic and adaptive calibration of 3D field sensors[J]. Applied Mathematical Modelling,2008,32:575-587
[46]温强,宋丽梅,黄玉等.三轴测量装置正交及增益误差修正算法研究[J].系统仿真学报,2008,20(23)：6542-6548
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[2]张琳,易亚星,刘志勤.真空激光准直系统在大坝变形监测中的应用[J].水利与建筑工程学报,2007,5(4)：112-116
[3]赵家淇,赵文奎,郭力之.长距离精密激光准直系统[J].现代计量测试,1995,6：8-10
[4]Zhang Yaoyu, Zhang Minghui, Qiao Yanfeng. CCD Laser Collimation System[C]. International Symposium on Precision Mechanical Measurements, Hefei-Jinan, China, 2002
[5]张东梅,尚春民,乔彦峰.提高CCD激光自准直测量系统精度的一种方法[J].光电与控制,2006,13(2)：38-40
[6]陆亦群.激光准直技术在铁道线路建设中的应用[J].北京建筑工程学院学报,2002,18(3)：13-15
[7]李田泽,杨淑连,李震梅等.高精度激光准直系统的研制与分析[J].半导体光电,2009,30(1)：150-152
[8]赵毅强,管大年,陈豪敏.电子罗盘在精确定位平台中的应用.传感技术学报[J],2005,18(1)：140-142
[9]L. Quettier, A. Bouty, O. Cloue, et al. Results of the magnetic measurements of the new COMPASS magnet[C]. IEEE Transactions on Applied Superconductivity,2008,18(2): 1652-1655
[10]林明春,夏桂锁,林玉池等.电子罗盘在全自动智能陀螺寻北仪中的应用[J].光学精密工程,2007,15(5)：719-724
[11]V. Y. Skvortzov, H.-Ki Lee, S.-Won Bang, et al. Application of electronic compass for mobile robot in an indoor environment[C]. IEEE International Conference on Robotics and Automation, Roma, Italy,2007
[12]Dyal P. Chiea C L. Lunar surface magnetometer[J]. IEEE.GE.1970(8):203-201
[13]RussellCT. The ISEEI and 2 fluxgate magnetometer[J]. IEEE. GE.1978(16):239-346
[14]Hae-Seok Park, Jun-Sik Hwang, Won-Youl Choi, et al. Development of micro-fluxgate sensors with electroplated magnetic cores for electronic compass[J]. Sensors and Actuators A Physical,2004,114:224-229
[15]S. Choi, S. Kawahito, K. Takahashi, et al. Integrated micro fluxgate magnetic sensor[J]. Sensors and Actuators A Physical,1996,55:121-126
[16]Lu Hao, Zhao Jiyin, Li Xiaomeng, et al. A New Method of Double Electric Compass for Localization[C]. Proceedings of the 6th World Congress on Intelligent Control and Automation, Dalian, China,2006
[17]Andrea Baschirotto, Alessandro Cabrini, Enrico Dallago, et al. Development and analysis of a PCB vector 2-D magnetic field sensor system for electronic compasses[J]. IEEE Sensors Journal,2006,6(2):365-370
[18]Du Guangtao, Chen Xiangdong, Lin Qibin, et al. MEMS magnetic field sensor based on silicon bridge structure[J]. Journal of Semiconductors,2010,31 (10):104011
[19]S. Moskowicz. Magnetic field sensor with a nanocrystalline core[C]. Proceedings of SPIE,2006,6348:634805
[20]马万明,李存志,林晓春等.新型实用的电子磁罗盘设计[J].西安电子科技大学学报,2008,35(3)：495-498
[21]王永强,曾连荪,金志华.一种基于磁阻传感器的数字罗盘的设计[J].计算机测量与控制,2007,15(12)：1864-1866
[22]刘大鹏,马晓川,朱昀.基于磁阻传感器的电子罗盘设计[J].微计算机应用,2008,29(5)：97-100
[23]Christian Schott, Robert Racz, Samuel Huber, et al. A CMOS single-chip electronic compass with microcontroller[C]. IEEE International Solid-State Circuits Conference, San Francisco, CA, United states,2007
[24]Jan Vcelak, Vojtech Petrucha, Pere Kaspar. Compact Digital Compass with PCB Fluxgate Sensors[J]. Sensors,2006,11:859-861
[25]过璧君.薄膜磁阻传感器及其应用[J].磁性材料及器件,1994,25(3)：27-40
[26]王泽民,胡波,邹鹏毅等.玻莫合金磁阻传感器的应用探讨[J].声学与电子工程,2005,3：47-49
[27]D.J. Mapps, M.L. Watson, N. Fry. A Double Bifilar Magneto-Resistor for Earth's Field Detection[C]. IEEE Transactions on Magnetics,1987,23(5):2413-2415
[28]白慧,段军政,王红雨.基于薄膜磁阻传感器的微弱磁场测量仪的硬件设计[J].现代电子技术,2003,23：90-94
[29]刘炳云,卢大伟,万德钧等.基于磁阻传感器的组合定位系统及误差补偿[J].测控技术,2001,20(2)：10-12
[30]宋颖,鲍其莲.导航系统MEMS加速度计的设计[J].自动化技术与应用,2006,25(5)：56-58
[31]Liu Yuntao, Liu Xiaowei, Yin Liang, et al. CMOS Interface Circuitry for a Closed-loop Capacitive MEMS Accelerometer[C]. IEEE International Conference on Nano/Micro Engineered and Molecular Systems, Shenzhen, China,2009
[32]Tran Duc Tan, Sebastien Roy, Nguyen Phu Thuy, et al. Streamlining the design of MEMS devices An acceleration sensor[C]. MEMS/MOEMS Technologies and Applications, Beijing, China,2007
[33]J. V celak, J. Kubik. Influence of sensor imperfections to electronic compass attitude accuracy[J]. Sensors and Actuators A:Physical,2009,155:233-240
[34]Pu Liangliang, Zhang Xiao-dong. An intelligent fuzzy-PID control system for high-speed solenoid valve[C]. Fourth International Conference on Innovative Computing, Information and Control, Kaohsiung, Taiwan,2009
[35]谢红.模拟电子技术基础[M].哈尔滨：哈尔滨工程大学出版社,2001：233-234
[36]戴明桢,周建江TMS320C54xDSP结构、原理及应用[M].北京：北京航空航天大学出版社,2001：1-4
[37]刘延斌,金光,何惠阳.三轴仿真转台系统建模及解耦控制研究[J].哈尔滨工业大学学报,2003,3(35)：323—328
[38]肖正林,钱培贤,徐军辉.三轴平台快速自标定与自对准方法探讨[J].宇航学报,2006,27(2)：222-226
[39]胡海滨,林春生,龚沈光.基于共轭次梯度法的非理想正交三轴磁传感器的修正[J].数据采集与处理,2003,1(18)：88-91
[40]袁智荣.三轴磁航向传感器的全姿态误差补偿[J].传感器技术,2003,9(22)：34-36
[41]林春生,向前,龚沈光.三轴磁强计正交误差分析与效正[J].探测与控制学报,2005,27(2)：9-12
[42]Demoz Gebre-Egziabher, Gabriel H. Elkaim, J. David Powell. Calibration of Strapdown Magnetometers in Magnetic Field Domain[J]. Journal of Aerospace Engineering,2006,19(2):87-102
[43]John L. Crassidist, Kok-Lam Lait. Real-time Attitude-independent Three-axis Magnetometer Calibration[J]. Journal of Guidance, Control, and Dynamics,2005,28(1): 115-120
[44]J. F. Vasconcelos, G. Elkaim, C. Silvestre. A Geometric Approach to Strapdown Magnetometer Calibration in Sensor Frame[C]. IFAC Workshop on Navigation, Guidance, and Control of Underwater Vehicles, Killaloe, Ireland,2008
[45]Timo Pylvanainen. Automatic and adaptive calibration of 3D field sensors[J]. Applied Mathematical Modelling,2008,32:575-587
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