Micro-strapdown altitude heading reference system and working method thereof

The invention relates to a micro-strapdown altitude heading reference system and a working method of the micro-strapdown altitude heading reference system. The system comprises a data acquisition module, a data processing resolving module and a peripheral communication interface module, wherein the data acquisition module integrates a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetic resistance sensor and an SPI (Serial Peripheral Interface) into an integrated micro-electronic mechanical system sensor; the data processing resolving module adopts a 32-bit ARM (Advanced RISC Machine) microcontroller; and the peripheral communication interface module consists of a serial port level switching chip, an RS-232 interface, a CAN (Controller Area Network) transceiver and a CAN interface. The working method of the system comprises the working steps as follows: the system is electrified and initialized; the system is self-tested; a magnetic field is self-calibrated; initial alignment is conducted; measured attitudes are combined: resolving the information of attitude headings according to initial three-dimensional altitude and altitude resolving algorithm of the strapdown altitude heading reference system, and resolving the three-dimensional magnetic altitude angle according to the compensated magnetic field information and acceleration information, conducting the information merging algorithm and finally obtaining the stable altitude heading reference information; and the altitude heading reference information is sent to application equipment.

本发明涉及一种微捷联高度航向参考系统以及该微捷联高度航向参考系统的工作方法。该系统包括数据采集模块、数据处理解算模块和外围通信接口模块，其中数据采集模块将三轴陀螺仪、三轴加速度计、三轴磁阻传感器和SPI（串行外设接口）集成到一个集成微电子机械系统传感器中；数据处理解算模块采用32位ARM（高级精简指令集机器）微控制器；外围通信接口模块由串口电平转换芯片、RS - 232接口、CAN（控制器局域网）收发器和CAN接口组成。该系统的工作方法包括以下工作步骤：系统上电初始化；系统自检；磁场自校准；初始对准；组合测量姿态：根据捷联高度航向参考系统的初始三维高度和高度解算算法解算姿态航向信息，并根据补偿后的磁场信息和加速度信息解算三维磁高度角，进行信息融合算法，最终获得稳定的高度航向参考信息；以及将高度航向参考信息发送到应用设备。