CN101893722B - Giant magneto-resistance sensor-based geomagnetic roll angle measurement system and method - Google Patents
Giant magneto-resistance sensor-based geomagnetic roll angle measurement system and method Download PDFInfo
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- CN101893722B CN101893722B CN 201010216016 CN201010216016A CN101893722B CN 101893722 B CN101893722 B CN 101893722B CN 201010216016 CN201010216016 CN 201010216016 CN 201010216016 A CN201010216016 A CN 201010216016A CN 101893722 B CN101893722 B CN 101893722B
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Abstract
The invention discloses a giant magneto-resistance sensor-based geomagnetic roll angle measurement system and a giant magneto-resistance sensor-based geomagnetic roll angle measurement method. The system mainly comprises a geomagnetism measuring module, a pitch angle measuring module, a signal conditioning module and a microprocessor, wherein the geomagnetism measuring module measures the geomagnetism in an X axis, a Y axis, and a Z axis by the giant magneto-resistance sensor; the pitch angle measuring module measures a pitch angle in the X axis by a double-shaft acceleration sensor; the signal conditioning module performs amplification, offsetting and zeroing, and analog-to-digital conversion on analogue signals of the giant magneto-resistance sensor; and the microprocessor fuses the geomagnetism and pitch information by a plurality of sensors to obtain the geomagnetic roll angle. In the method, an amplifier offsetting zeroing circuit is designed, so that the null position output of the giant magneto-resistance is reduced, and the roll angle measuring precision is improved; the double-shaft accelerator sensor is adopted to solve the problem of multi-value generated when a single-shaft accelerator sensor is used for measuring the pitching angle, so that the uniqueness of the pitch angle and the measurement of the roll angle are realized.
Description
Technical field
The present invention relates to a kind of geomagnetic sensor system and method containing amplifier biasing zeroing circuit, more particularly to a kind of geomagnetic roll angle measurement system and method based on giant magneto-resistance sensor.Belong to sensor technical field.
Background technology
Along with the continuous expansion of mankind's activity field, in the field such as Aeronautics and Astronautics, navigation, seismic exploration, deep-sea detecting, attitude angle technology is required for most of engineering fields.Method currently used for attitude angle mainly has：Radionavigation, gyroscope, magnetic orientation, solar azimuth positioning, fixed star astrofix.Because radio signal is limited by landform, the precision of gyroscope measurement is low, and high-precision gyroscope technology is complicated, involves great expense, and celestial body positioning is limited to by weather, and the attitude angle based on geomagnetic sensor system solves disadvantages mentioned above well.In general, it is desirable to the sensitivity height of these geomagnetic sensors, high resolution, small volume, it is low in energy consumption the features such as.
Common geomagnetic sensor mainly has following：
1st, permanent magnet compass, the shortcoming of this geomagnetic field measuring device is that permanent magnet magnetic moment is limited and resolution ratio is not high, it is difficult to realize miniaturization, complicated, bearing capacity is poor.
2nd, fluxgate compass, such as CN1971309 of patent 200610101789.5 are described " geomagnetic sensor and its azimuth calculation method ".This kind of fluxgate geomagnetic sensor shortcoming structure is slower than larger, dynamic response, it is more complicated to resolve.
3rd, magnetoresistive transducer, such as CN101044412 of patent 200580035519.2 are described " method and apparatus that magnetic field is measured using magnetoresistive transducer ".What it was utilized is the principle of the resistance of dilval only to the magnetic-field-sensitive in some direction.Because the volume of resistance can be made small and no movable part, so the attitude angle instrument small volume constituted using magnetoresistive element, good reliability.It has the disadvantage more sensitive to temperature, it is necessary to try to eliminate the influence that ambient temperature change is brought；In addition, magnetoresistive ratio is low, sensitivity is low, therefore raising measurement accuracy can be very limited.
Therefore, if none of accurate geomagnetic field measuring sensor, the angle of pitch with error is added, then can not compensate roll angle well so that roll angle just has error in the calculation.Big, the low problem of sensitivity for above-mentioned volume, the invention provides a kind of geomagnetic roll angle measurement system based on giant magneto-resistance sensor and method, small volume, cost is low, and precision is high, with good use value.
The content of the invention
It is an object of the invention to the defect for prior art, a kind of geomagnetic roll angle measurement system and method based on giant magneto-resistance sensor are provided, so that it is more accurate and more reliable to measure earth's magnetic field using giant magneto-resistance sensor, angle of pitch uniqueness is realized, and roll angle is resolved using the angle of pitch and geomagnetic field component.
To reach the purpose of the invention described above, idea of the invention is that：
When giant magneto-resistance sensor measures earth's magnetic field, due to giant magneto-resistance sensor bridge offset, in the case that i.e. external magnetic field is zero, sensor output is not zero, it is reduced into the range of signal in A/D converter, the sampling resolution of analog-digital converter is reduced, so as to also reduce the accuracy of earth's magnetic field and roll angular measurement.
When acceleration transducer carries out pitch angle measurement, the relation for being Sin θ between the output and the tested angle of pitch due to acceleration transducer, it is clear that multivalue problem occurs during the single-axis acceleration sensors measurement angle of pitch, therefore the roll angle resolved is not unique.
Conceived according to foregoing invention, the present invention uses following technical proposals：
A kind of geomagnetic roll angle measurement system based on giant magneto-resistance sensor is by magnetic survey module, pitch angle measurement module, Signal-regulated kinase, microprocessor composition, it is characterised in that the magnetic survey module includes X-axis, Y-axis and the Z axis giant magneto-resistance sensor of pairwise orthogonal；The pitch angle measurement module includes mutually perpendicular X-axis and Z axis double-axel acceleration sensor；The Signal-regulated kinase includes, by an amplifier biasing zeroing circuit, an instrument amplifier, connecting an A/D converter；The magnetic survey module connects the microprocessor through Signal-regulated kinase, and the pitch angle measurement module connects the microprocessor.
The magnetic survey module uses three axle giant magneto-resistance sensor AAH002-02；The pitch angle measurement module uses double-axel acceleration sensor ADXL202；Instrument amplifier uses INA118 in the Signal-regulated kinase, and A/D converter carries for microprocessor；The microprocessor uses Atmega128L；The Signal-regulated kinase measures analog signal to the giant magneto-resistance sensor of magnetic survey module and is amplified, biases zeroing and analog-to-digital conversion；The microprocessor obtains geomagnetic roll angle after carrying out Multi-sensor Fusion processing to earth magnetism and pitch information.
The Signal-regulated kinase is to be amplified after giant magneto-resistance sensor analog signal is biased into zeroing circuit through amplifier by instrument amplifier, then is converted to data signal by A/D converter, finally sends into microprocessor；The amplifier biasing zeroing circuit is：In one input termination of instrument amplifier, one digital regulation resistance Rg, by controlling digital regulation resistance Rg, the adjustment of electric bridge supply voltage is realized, the purpose for reducing the output of giant magneto-resistance sensor zero-bit is reached, the sampling resolution of analog-digital converter is improved, so as to improve the precision of geomagnetic field measuring.
A kind of geomagnetic roll angle measuring method based on giant magneto-resistance sensor, is measured, it is characterised in that concrete operation step is as follows using said system：
(1) the geomagnetic roll angle parameter based on giant magneto-resistance sensor is measured；
(2) measured value of each axle giant magneto-resistance sensor is gathered, according to magnetic-field component H " ' on measured value calculating X-axis, Y-axis and Z axisX、H″′Y、H″′Z；
(3) output valve of double-axel acceleration sensor is gathered, the angle of pitch is calculated using the output valve, realizes pitching angle theta uniqueness：
(4) X-axis, Y-axis and Z axis geomagnetic field component H " ' are utilizedX、H″′YWith H " 'ZAnd pitching angle theta, pass through formula
Carry out the roll angle that azimuth is zeroCalculate；
(5) roll angle is exported
In above-mentioned steps (2), what AAH002-02 sensors were utilized is that the change in magnetic field causes the change of resistance, and the change of resistance causes the change that Wheatstone bridge is exported；Utilize following formula Δ Vout=KSHVbCalculate X-axis respectively, magnetic-field component H " ' on Y-axis and Z axisX、H″′Y、H″′Z.Δ V in formulaoutFor AAH002-02 output quantities, K is INA118 multiplication factors, and S is AAH002-02 sensitivity, VbFor driving voltage.
In the step (3), comprising the following steps that for angle of pitch uniqueness is realized：
According to individual axis acceleration measuring principle, there is multivalue problem using equation gSin θ=Ax angles of pitch calculated, it is impossible to obtain unique measured value.The present invention utilizes double-axel acceleration sensor ADXL202, gives a kind of method for differentiating angle of pitch quadrant：The quadrant of the angle of pitch is judged according to X-axis acceleration transducer measured value Ax and Z axis measured value Az positive negativity.X-axis acceleration transducer measured value Ax is substituted into equation θ=arcSin (Ax/g) and calculates the angle of pitch, when Ax, which is more than 0, Az, is more than 0, then the θ is the angle of pitch；When Ax, which is more than 0, Az, is less than 0, then 180 ° of-θ are the angle of pitch；When Ax, which is less than 0, Az, is less than 0, then 180 °+| θ | it is the angle of pitch；When Ax, which is less than 0, Az, is more than 0；Then 360 °-| θ | it is the angle of pitch.
The present invention is compared with prior art compared with following obvious prominent substantive distinguishing features and significant advantage：
(1) giant magnetoresistance rate of change is high, and sensitivity is high, and it is high to measure earth's magnetic field accuracy using giant magneto-resistance sensor；
(2) amplifier biasing zeroing circuit is used, the output of giant magneto-resistance sensor zero-bit is reduced, improves geomagnetic field measuring precision；
(3) it is adapted to the measurement to downfield；
(4) hardware design circuit is simple, measurement apparatus small volume；
(5) unique angle of pitch can be obtained using quadrant diagnostic method, improves the measurement accuracy of roll angle；
(6) cost is low, low in energy consumption.
Brief description of the drawings
Fig. 1 is the construction block diagram of the geomagnetic roll angle measurement system based on giant magneto-resistance sensor.
Fig. 2 is the Signal-regulated kinase circuit structure diagram designed in Fig. 1 geomagnetic roll angle measurement system.
Fig. 3 is a kind of flow chart for calculating roll angle method.
Fig. 4 is the flow chart in measurement earth's magnetic field in Fig. 3 roll angle computational methods.
Fig. 5 is that the quadrant of determination angle of pitch uniqueness in Fig. 3 roll angle computational methods differentiates flow chart.
Embodiment
The preferred embodiments of the present invention are described with reference to the drawings as follows：
Embodiment one：Referring to Fig. 1, the geomagnetic roll angle measurement system of this giant magneto-resistance sensor is made up of magnetic survey module 1, pitch angle measurement module 2, Signal-regulated kinase 3 and microprocessor 4.
The magnetic survey module 1 includes 3 axle giant magneto-resistance sensor AAH002-02 of mutually orthogonal X-axis, Y-axis and Z axis.AAH002-02 exports the magnitude of voltage corresponding with outside earth's magnetic field, therefore, corresponding geomagnetic field component is obtained by the output valve of each axle sensor.
Acceleration transducer ADXL202 of the pitch angle measurement module 2 comprising mutually perpendicular X-axis and Z axis.ADXL202 exports the acceleration corresponding with the inclination of geomagnetic sensor system body, has gSin θ=Ax between them, therefore gCos θ=Az relation, can carry out pitch angle measurement by double-axel acceleration sensor, realize the uniqueness of the angle of pitch.
Signal-regulated kinase 3 includes instrument amplifier INA118, A/D converter and amplifier biasing zeroing circuit.After giant magneto-resistance sensor AAH002-02 output signals are amplified by instrument amplifier INA118, the treatable data signals of microprocessor Atmega128L are converted into A/D converter.
Microprocessor Atmega128L 4 obtains geomagnetic roll angle after carrying out Multi-sensor Fusion processing to earth magnetism and pitch information.
Embodiment two：The present embodiment is identical with embodiment one, and special character is as follows：Referring to the circuit structure diagram of Signal-regulated kinase in geomagnetic roll angle measurement system described in Fig. 23, giant magneto-resistance sensor AAH002-02 analog signals are amplified through biasing zeroing circuit and instrument amplifier INA118, data signal is converted to by A/D converter again, microprocessor Atmega128L is finally sent into.Amplifier biasing zeroing circuit contains a digital regulation resistance RgWith two fixed resistance R2.When earth's magnetic field is parallel with giant magneto-resistance sensor sensitive axes, giant magneto-resistance sensor has bias voltage output, now, by adjusting digital regulation resistance RgResistance give instrument amplifier to add an opposite polarity voltage, eliminated with to produce an opposite Amplitude of DC voltage and biased, its voltage swing subtracts the bias voltage of electric bridge for the half of supply voltage.
Embodiment three：Referring to Fig. 3, Fig. 4, Fig. 5, this geomagnetic roll angle measuring method based on giant magneto-resistance sensor is comprised the following steps that：
(1) such as Fig. 3 flows 1, the geomagnetic roll angle parameter based on giant magneto-resistance sensor is measured.
(2) such as Fig. 3 flows 2, the measured value of each axle giant magneto-resistance sensor is gathered, magnetic-field component H " ' on Fig. 4 flows, calculating X-axis, Y-axis and Z axis is gone to according to measured valueX、H″′Y、H″′Z。
Such as Fig. 4 flows 1, system initialization, including INA118 multiplication factors K, AAH002-02 sensitivity S, driving voltage Vb。
Such as Fig. 4 flows 2, X-axis is gathered respectively, giant magneto-resistance sensor AAH002-02 output valve Δs V on Y-axis and Z axisout。
Such as Fig. 4 flows 3, by Δ Vout, K, S and VbBring equation DELTA V intoout=KSHVb, geomagnetic field component H " ' is calculated respectivelyX、H″′Y、H″′Z。
(3) such as Fig. 3 flows 3, the output valve of double-axel acceleration sensor is gathered, using output valve, Fig. 5 flows is gone to, calculates the angle of pitch, realize pitching angle theta uniqueness.
(4) roll angle is calculated
：
Such as Fig. 5 flows 1, collection X-axis and Z axis acceleration transducer measured value are Ax, Az.
Such as Fig. 5 flows 2, Ax is substituted into equation θ=arcSin (Ax/g) and calculates pitching angle theta.
Such as Fig. 5 flows 3, when Ax, which is more than 0, Az, is more than 0, then the θ is the angle of pitch.
Such as Fig. 5 flows 4, when Ax, which is more than 0, Az, is less than 0, then 180 ° of-θ are the angle of pitch.
Such as Fig. 5 flows 5, when Ax, which is less than 0, Az, is less than 0, then 180 °+| θ | it is the angle of pitch.
Such as Fig. 5 flows 6, when Ax, which is less than 0, Az, is more than 0；Then 360 °-| θ | it is the angle of pitch.
Such as Fig. 3 flows 4, X-axis, Y-axis and Z axis geomagnetic field component H " ' are utilizedX、H″′YWith H " 'ZAnd pitching angle theta, lead to
Cross formula
(azimuth is zero) carries out roll angle
Calculate.
(5) roll angle is exported
Claims (3)
1. a kind of geomagnetic roll angle measurement system based on giant magneto-resistance sensor, by magnetic survey module（1）, pitch angle measurement module（2）, Signal-regulated kinase（3）And microprocessor（4）Composition, it is characterised in that the magnetic survey module（1）X-axis, Y-axis and Z axis giant magneto-resistance sensor including pairwise orthogonal；The pitch angle measurement module（2）Including mutually perpendicular X-axis and Z axis double-axel acceleration sensor；The Signal-regulated kinase（3）Including an amplifier biasing zeroing circuit, an instrument amplifier connects an A/D converter；The magnetic survey module（1）Through Signal-regulated kinase（3）Connect the microprocessor（4）, the pitch angle measurement module（2）Connect the microprocessor（4）；The magnetic survey module（1）Using three axle giant magneto-resistance sensor AAH002-02；The pitch angle measurement module（2）Using double-axel acceleration sensor ADXL202；The Signal-regulated kinase（3）Middle instrument amplifier uses INA118, and A/D converter carries for microprocessor；The microprocessor（4）Using Atmega128L；The Signal-regulated kinase（3）To magnetic survey module（1）Giant magneto-resistance sensor measure analog signal be amplified, bias zeroing and analog-to-digital conversion；The microprocessor（4）Geomagnetic roll angle is obtained after carrying out Multi-sensor Fusion processing to earth magnetism and pitch information.
2. the geomagnetic roll angle measurement system according to claim 1 based on giant magneto-resistance sensor, it is characterised in that the Signal-regulated kinase（3）It is to be amplified after giant magneto-resistance sensor analog signal is biased into zeroing circuit through amplifier by instrument amplifier, then data signal is converted to by A/D converter, finally sends into microprocessor；The amplifier biasing zeroing circuit is：In the Signal-regulated kinase（3）In one digital regulation resistance R of the input termination of instrument amplifier oneg, by controlling digital regulation resistance Rg, the adjustment of electric bridge supply voltage is realized, the purpose for reducing the output of giant magneto-resistance sensor zero-bit is reached, the sampling resolution of analog-digital converter is improved, so as to improve the precision of geomagnetic field measuring.
3. a kind of geomagnetic roll angle measuring method based on giant magneto-resistance sensor, is measured, it is characterised in that concrete operation step is as follows using the geomagnetic roll angle measurement system according to claim 1 based on giant magneto-resistance sensor：
（1）Measure the geomagnetic roll angle parameter based on giant magneto-resistance sensor；
（2）The measured value of each axle giant magneto-resistance sensor is gathered, according to magnetic-field component on measured value calculating X-axis, Y-axis and Z axis
、
、
；
（3）The output valve of double-axel acceleration sensor is gathered, the angle of pitch is calculated using the output valve, realizes pitching angle theta uniqueness；
（4）Utilize X-axis, Y-axis and Z axis geomagnetic field component
、
WithAnd pitching angle theta, pass through formula
= 
Carry out the roll angle that azimuth is zero
Calculate；
（5）Export roll angle
；
The step（2）In, what AAH002-02 sensors were utilized is that the change in magnetic field causes the change of resistance, and the change of resistance causes the change that Wheatstone bridge is exported；Utilize following formula
Calculate X-axis respectively, magnetic-field component on Y-axis and Z axis
、、
；In formula
For AAH002-02 output quantities,
For INA118 multiplication factors,
For AAH002-02 sensitivity,
For driving voltage；
The step（3）In, there is multivalue problem when measuring the angle of pitch due to single-axis acceleration sensors, using double-axel acceleration sensor ADXL202, realize angle of pitch uniqueness；Comprise the following steps that：Ax, Az are set as X-axis and Z axis acceleration；
（1）Microprocessor（4）Ax is substituted into equation θ=arcSin（Ax/g）Calculate the angle of pitch；
（2）According to gSin θ=Ax, gCos θ=Az, have：
When Ax, which is more than 0, Az, is more than 0, then the θ is the angle of pitch；
When Ax, which is more than 0, Az, is less than 0, then 1800- θ is the angle of pitch；
When Ax, which is less than 0, Az, is less than 0, then 1800+ | θ | it is the angle of pitch；
When Ax, which is less than 0, Az, is more than 0；Then 3600- | θ | it is the angle of pitch.
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