CN103438876B - A kind of Magnetic Heading System based on numeral fluxgate - Google Patents
A kind of Magnetic Heading System based on numeral fluxgate Download PDFInfo
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- CN103438876B CN103438876B CN201310399926.8A CN201310399926A CN103438876B CN 103438876 B CN103438876 B CN 103438876B CN 201310399926 A CN201310399926 A CN 201310399926A CN 103438876 B CN103438876 B CN 103438876B
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Abstract
The Magnetic Heading System that the present invention relates to is a kind of device utilizing measurement direction, magnetic field of the earth.The problem that when using analog circuit to carry out signal transacting for solution system, temperature performance is relatively poor, the present invention uses single-chip microcomputer to carry out the Magnetic Heading System of digital fluxgate composition of signal transacting.Fluxgate signal is converted directly into data signal by this system, utilizes single-chip microcomputer to replace traditional analog circuit to carry out signal transacting.This circuit system is resolved module, communication module and virtual instrument etc. formed by power supply, numeral fluxgate module, magnetic heading.Numeral fluxgate circuit is closed control circuit, utilizes the high speed of two single-chip microcomputer C8051f064, high-precision AD directly to sample three road fluxgate signals.Magnetic heading resolving circuit utilizes another single-chip microcomputer collection numeral fluxgate output signal and carries out course resolving.Communication module realizes the communication between single-chip microcomputer and peripheral hardware, single-chip microcomputer and between single-chip microcomputer and host computer.Virtual instrument not only can real-time display system state, course angle and internal system data, it is also possible to control system is debugged automatically.
Description
Technical field
The present invention relates to a kind of Magnetic Heading System, be specifically related to a kind of Magnetic Heading System based on numeral fluxgate.
Background technology
Magnetic Heading System, also known as magnetic compass, is a kind of device utilizing measurement direction, magnetic field of the earth.As a example by using on unmanned plane,
The output of Magnetic Heading System is that the head of unmanned plane points to.Since the sixties in last century, as the unmanned plane of target practice training target
Being paid attention to, remote reading magnetic compass is applied in unmanned plane heading measure due to the advantage of volume, weight, cost etc., after
Being combined with vertical gyro, occur in that platform-type Magnetic Heading System, the shortcoming of this system is that structure is complicated, and volume is big, and cost is high.
Developing rapidly of single-chip microcomputer and microsystems technology, the particularly application of single-chip microcomputer, make magnetic heading measurement enter new developing period,
Complicated frame for movement and servomechanism are replaced by the power of single-chip microcomputer, and complicated calculating is the most no longer a difficult problem, i.e. so-called
The digital Magnetic Heading System of strapdown.This system uses magnetic sensor to measure earth's magnetic field at aircraft longitudinal axis, transverse axis and vertical pivot
Component, obtains the angle of pitch and inclination angle signal from vertical gyro, goes out magnetic heading with single-chip microcomputer directly calculation.Magnetic Heading System is first
Having broken away from the frame for movement of complexity, reliability, certainty of measurement increase substantially, and production cost declines to a great extent.
But it is as the development of unmanned air vehicle technique, magnetic-field measurement is proposed in terms of form, stability and accuracy
Harsher requirement, Magnetic Heading System temperature influence based on conventional fluxgate is big, and the temperature stability of output signal is poor, its
In analog circuit improve performance cost height debugging difficulty.
The content of invention
For solving the problems referred to above, the present invention uses a kind of Magnetic Heading System based on numeral fluxgate, and fluxgate can be believed by this system
Number being converted directly into data signal, utilize single-chip microcomputer to replace traditional analog circuit to carry out signal transacting, digital processing is not by temperature
Impact, thus improve the temperature performance of whole circuit.
The present application relates to a kind of Magnetic Heading System based on numeral fluxgate, this Magnetic Heading System is by power supply module, number
Word fluxgate module, magnetic heading resolve module, communication module and virtual instrument module composition, it is characterised in that:
This power supply module provides outwardly and inwardly power supply for Magnetic Heading System；
This numeral fluxgate module uses two single-chip microcomputers to process the three-way output signal of fluxgate sensor, for being believed by fluxgate
Number it is converted directly into data signal, completes to include that analog signal is to data signal conversion, digital processing and signal condition function；
This magnetic heading resolving circuit module uses another single-chip microcomputer to carry out course resolving；
This communication module is used for the communication between the communication between processing single chip and peripheral hardware, single-chip microcomputer and single-chip microcomputer and host computer
Between communication；
This virtual instrument module is used for providing a kind of user-friendly interface, can add on a general-purpose computer some special-purpose softwares and
Necessary instrument hardware module, makes this all-purpose computer of user operation just as one oneself custom-designed conditional electronic instrument of operation
Device is the same.
This Magnetic Heading System is further characterized in that: this numeral fluxgate module is by excitation power supply, signal condition, digital processing and letter
Number output and feedback four part composition.
This Magnetic Heading System is further characterized in that: this magnetic heading resolving circuit includes peripheral support circuit and signal conditioning circuit；Outward
The auxiliary circuit in portion provides the angle of pitch and inclination angle signal, and carries out signal condition；System is to the angle of pitch, inclination angle and fluxgate
Sensor signal is sampled, it is thus achieved that attitude signal and geomagnetic field component, then use single-chip microcomputer signal is filtered process,
Error compensation, the digital processing such as course resolving, finally give stable magnetic heading signal, and with host computer real-time Communication for Power.
This Magnetic Heading System is further characterized in that: this peripheral support circuit module also includes an outside reference circuit.
Accompanying drawing explanation
Fig. 1, the Magnetic Heading System module structure drafting that the present invention relates to
Fig. 2, the power circuit diagram that the present invention relates to
Fig. 3, the schematic diagram of the digital fluxgate sensor that the present invention relates to
Fig. 4, the digital fluxgate signal conditioning circuit figure that the present invention relates to
Fig. 5, the digital fluxgate feedback signal conditioning circuit diagram that the present invention relates to
Fig. 6, the magnetic heading that the present invention relates to resolve the theory diagram of module
Fig. 7, the magnetic heading resolving circuit module auxiliary circuit outside reference circuit that the present invention relates to
Fig. 8, the magnetic heading resolving circuit module auxiliary circuit signal conditioning circuit that the present invention relates to
Fig. 9, the virtual instrument that the present invention relates to constitute schematic diagram
Detailed description of the invention
The Magnetic Heading System that the present invention relates to includes that power supply module, numeral fluxgate sensor circuit module, magnetic heading resolve
Circuit module, communication module and five modules of virtual instrument module.Fig. 1 is the Magnetic Heading System module structure drafting that the present invention relates to.
This system uses three single-chip microcomputers altogether, and wherein signal processing module uses two single-chip microcomputers to process three tunnel outputs of fluxgate sensor
Signal, course resolves module and uses another single-chip microcomputer to carry out course resolving.Communication module mainly connects Magnetic Heading System with virtual
Instrument.Virtual instrument is to be the display terminal of Magnetic Heading System, is also by the instrument of system development, debugging.It is embodied as
Mode is as follows:
1. power supply module
The Magnetic Heading System external power source that the present invention relates to provides ± 12V DC voltage, and internal system device operating voltages divides
Not at+5V and+3V, it is therefore desirable to power module carries out voltage conversion.Circuit divides artificial circuit part and digital circuits section, phase
The power supply answered is also classified into analog power and digital power.System uses same voltage-stabilized power supply, this need at digital power and
Simple filtering is added between analog power.
Voltage conversion device in the Magnetic Heading System that the present invention relates to uses AS1117-5V and AS1117-3.3V low voltage difference
Voltage stabilizing chip, their maximum output current is 800mA, and minimum input and output pressure reduction is 1.2V, the least this source effect
With load effect and the lowest temperature coefficient, can meet requirement of system design completely, circuit is as shown in Figure 2.
Power supply circuit in the Magnetic Heading System that the present invention relates to, the work of the integrated operational amplifier that employing single supply is powered
Supply voltage is+5V, is required to be it and provides bias voltage in application, and magnitude of voltage is the half of supply voltage, i.e.+2.5V；ADC and
The reference voltage of DAC is also+2.5V；The half that bias voltage is its reference voltage of ADC front end modulate circuit, i.e.+1.25V.
Therefore, system is required to be this kind of device and provides these voltage references, and the present invention selects the inside+2.5V's of one of them single-chip microcomputer
Voltage reference, is supplied to related device after operational amplifier drives；+ 1.25V voltage is then passed through electricity by+2.5V voltage above
Produce after hindering dividing potential drop and increasing driving.
2. numeral fluxgate circuit module
Numeral fluxgate module uses existing three axis fluxgate sensors, exports the analog signal of three tunnel same form respectively,
Corresponding process circuit is the most identical.Fig. 3 show the schematic diagram of numeral fluxgate sensor.Numeral fluxgate circuit includes excitation
Power supply, signal conditioning circuit, digital processing and signal export and feed back several part.
From the survey magnetic principle of fluxgate sensor, it is saturated that the once for every half of sensor iron core is required for reaching the degree of depth, and this wants
The field signal asking exciting circuit to produce in the core has enough amplitudes, generally uses sine wave, triangular wave or square-wave signal.
In various pumping signals, during sine-wave excitation, the radio-frequency component amplitude in fluxgate output signal is minimum, beneficially signals collecting,
But circuit structure is complicated, and phase place is difficult to accurately control, and uses Direct Digital Frequency Synthesizers, relatively costly.
Exciting circuit in numeral fluxgate module of the present invention uses triangular wave excitation, single-chip microcomputer the square wave direct integral produced produces
Raw, driving frequency can be revised square wave frequency Indirect method by single-chip microcomputer.The excitation coil of three road fluxgates is connected in series, with
Ensureing exciting current consistent of three road fluxgates, but the problem thus brought is, the highest amplitude of amplifier output is 5V, not enough
To produce Optimum Excitation magnetic field, therefore circuit uses the triangular signal of two complementary outputs to drive fluxgate sensor, electricity simultaneously
Road adjusts and selects suitable resistance to obtain Optimum Excitation voltage.
Sensor output signal is more weak, and is mingled with interference signal, should not be sent directly into AD and be acquired, it is therefore desirable to carry out signal
Conditioning.In numeral fluxgate, the introducing of single-chip microcomputer so that partly conditioning task can be completed by software, simplify signal and adjust
The hardware configuration of reason module, therefore this module mainly completes the translation of sensor signal current potential and signal amplifies, and can carry out when needed
Simple filtering.
(1) signal filtering
As shown in Figure 4, feedback coil and the secondary coil of the fluxgate sensor used in circuit are same coils, therefore feed back
Voltage signal is included in sensor output signal.Feedback signal is regarded as direct current signal, and useful sensor output signal
Frequency the most of a relatively high, in order to make feedback signal not deliver to Acquisition Circuit with measured signal one piece, generally make in modulate circuit
With capacitance and voltage follower, capacitance is made to form a high-pass filter with voltage follower.Figure utilizes every straight electricity
Holding C46 and resistance R27 and form a RC high-pass filter, general R and C value is very big, and therefore cut-off frequency f is relatively low, to quilt
The impact surveying signal is the least, negligible.
(2) signal amplifies
Sensor output signal is less, it is necessary to use preamplifier.Figure use in-phase amplifier signal is amplified.Put
Big device uses single supply to power, and+1.25V the voltage being connected on filter circuit one end provides suitable DC offset voltage for amplifier.
The voltage gain of amplifying circuit is approximately: Av=1+R29/R28
The single-chip microcomputer that native system uses is C8051F064.This chip is the high sexual valence that Silicon Laboratories company produces
8 single-chip microcomputers of ratio, mixed signal SOC(system on a chip) type MCU being completely integrated.
Signal output apparatus module is closed-loop control system, it is therefore desirable to the data signal of single-chip microcomputer output is converted into analog signal
Feed back to input.Feedback channel comprises DA conversion and signal condition two parts.DA is respectively adopted 16 two-ways of TI company
Voltage pio chip DAC8552 and 16 single channel voltage pio chip DAC8551.DAC855x family chip have ultralow in short-term
Impulse waveform interference characteristic, accuracy is up to 4LSB, low power dissipation design, electrification reset output zero setting, and schmidt trigger inputs,
Double buffering input framework, has output buffer amplifier on the sheet of track to track, synchronizes or Serial output updates and turns off, by low
Power consumption SPI serial line interface and single chip communication, meet system requirements.
Signal condition part includes LPF and follower.Circuit is as shown in Figure 5.Wherein LPF can produce smooth
Output voltage, the most this low pass filter is smoothing filter, and its cut-off frequency keeps four points of frequency equal to DAC output
One of.Because the output driving force of DAC is limited, therefore adding follower after wave filter increases feedback signal driving force, so
The suitable resistant series of rear selection in the feedback loop, makes full use of the output area of DA.X+, X-in figure is sensor electricity
End is measured in the output on road.
3. magnetic heading resolving circuit module
Accompanying drawing 6 resolves the theory diagram of module for magnetic heading.Outside auxiliary circuit provides the angle of pitch and inclination angle signal, goes forward side by side
Row signal condition.The angle of pitch, inclination angle and fluxgate sensor signal are sampled by system, it is thus achieved that attitude signal and earth's magnetic field
Component, the digital processings such as then single-chip microcomputer is filtered process, error compensation to signal, course resolving, finally give stable
Magnetic heading signal, and with host computer real-time Communication for Power.
In order to provide a system to adjustable analog angle signal, the peripheral support circuit module of the present invention also includes an outside reference
Circuit is as shown in Figure 7.Wherein, design circuit represents the angle signal of-90-+90 degree with 0-+5V, is utilized respectively rheostat R73
The angle signal needed is provided with R79.The angle of pitch, inclination angle signal are the voltage signal of 0-+5V, and ADC input model
Enclose for 0-+2.5V, it is therefore desirable to this angle signal is pre-processed.
Fig. 8 show signal conditioning circuit schematic diagram, and its function mainly completed is that signal amplifies and current potential translation functions.Conditioning
The condition that circuit needs meet is:
(1) input 0-+5V, correspondence is output as+0.25V-+2.25V；
(2) when inputting unsettled, it is output as 0 degree of signal, i.e. 1.25V；
The internal single-chip microcomputer scheme comprising AD is selected in magnetic heading resolving circuit module involved in the present invention.The speed of AD is wanted
Ask the highest, but system-computed amount is very big, therefore should select the High Performance SCM of band high-precision AD.Magnetic boat involved in the present invention
C8051F352 (hereinafter referred to as MCU_0) single-chip microcomputer of Silicon Laboratories company is used to resolving circuit module, it
Mixed signal SOC(system on a chip) type MCU being completely integrated.
4. communication module
Communication in native system includes the communication between the communication between single-chip microcomputer and peripheral hardware, single-chip microcomputer and single-chip microcomputer and host computer
Between communication three kinds communication.
(1) with peripheral communication module
In system, the communication of single-chip microcomputer and peripheral hardware refers mainly to the communication between DAC.Single-chip microcomputer is to its output control command and data.
This module only carries out one-way communication, but requires that speed is higher, and communication distance is the shortest, and uses frequently, it is desirable to programming is simple, because of
This has selected spi bus.Serial peripheral equipment interface SPI provides and accesses full-duplex serial bus flexibly.Can as main device and
From device, there are 3 line working methods and 4 line working methods, and support on same spi bus, to connect multiple main device and from device
Part.During as main device, peak data transfer rate is 1/2nd or 12.5MHz of system clock frequency.
This module single-chip microcomputer, as single main device, only carries out exporting data and command operation, DAC as single from device.Institute
Being operated in 3 line master modes with bus, the input that single-chip microcomputer utilizes an I/O port to control DAC simultaneously triggers.
(2) communication module between single-chip microcomputer
Magnetic Heading System owing to the present invention relates to comprises three single-chip microcomputers, needs three processors to work in coordination with when carrying out system debug
Work.It is thus desirable to carry out communicating between single-chip microcomputer.This communication module communication distance is short, and rate request is the highest, has selected SMBus
Bus.
This interface is the bi-directional serial bus of a two-wire, a bus can have multiple main device, can coordinate same bus
On the device of friction speed, the maximum device number in bus is only limited by required rising and falling time；In bus not
Operating voltage with device can be different；The operation of bus in units of byte, is had SMBus interface to automatically control data by system
Serial transmission；One main device can address multiple from device, and the maximum rate of data transmission is up to the ten of system clock frequency
/ mono-；Simple pull-up resistor is only needed to connect, simple and convenient.
(3) with host computer communication module
RS-232C is a kind of standard for serial communication that application is most at present, is a kind of standard communication interface of microcomputer.This communication mould
Relatively far away from, but rate request is relatively low for the transmission range of block, selects RS-232C interface and host computer to carry out data exchange simple easily
OK.Communication module in the Magnetic Heading System that the present invention relates to selects the SP3223 smart transceiver of SIPEX company.This transceiver
Only need several external capacitor to get final product work, connect simple, have power-down mode and automatically waken up function, it is provided that two groups of translation interfaces,
Ensure the peak transfer rate of minimum 120Kbps.Use middle circuit to remove handshake, use one group of translation interface, add public affairs
Common ground wire, i.e. uses minimum three piece line to complete serial communication.
5. virtual instrument
Virtual instrument in the present invention is the instrument developed Magnetic Heading System, debug.It is utilized can readily to realize software
Exploitation, is analyzed to system data, processes and shows, even control system carries out error compensation.
As it is shown in figure 9, the hardware of virtual instrument module is mainly a general purpose personal computer (PC) and one piece of interface card,
One end of interface card is connected with the serial port of PC, and the other end is connected with the debugging interface of Magnetic Heading System, coordinates PC
And the communication between Magnetic Heading System.
Magnetic Heading System board design in the present invention includes RS232 interface, therefore direct by RS232 interface with PC
It is connected, the hardware of composition virtual instrument.When the software systems of Magnetic Heading System are debugged in exploitation in the early stage, in addition it is also necessary to debug accordingly
Adapter.Adapter, by special JTAG debugging interface connection system circuit board, connects computer by USB interface.
The present invention is adopted to be sampled by single-chip microcomputer and fluxgate signal is converted directly into data signal, and carries out the application of high-precision AD,
Lay the first stone for improving system accuracy.Single-chip microcomputer is utilized to carry out software process.Digital processing not temperature influence, thus improve whole
The temperature performance of individual circuit, utilizes high-speed microprocessor can carry out the algorithm process of complexity simultaneously, while simplifying circuit system,
The stability of raising system.
Claims (3)
1. a Magnetic Heading System based on numeral fluxgate, this Magnetic Heading System is resolved mould by power supply module, numeral fluxgate module, magnetic heading
Block, communication module and virtual instrument module composition, it is characterised in that:
This power supply module provides outwardly and inwardly power supply for Magnetic Heading System；
This numeral fluxgate module uses two single-chip microcomputers to process the three-way output signal of fluxgate sensor, for fluxgate signal is converted directly into number
Word signal, completes to include that analog signal is to data signal conversion, digital processing and signal condition function；
This magnetic heading resolves module and uses another single-chip microcomputer to carry out course resolving；
The communication between communication and single-chip microcomputer and the host computer between the communication between processing single chip and peripheral hardware, single-chip microcomputer of this communication module；
This virtual instrument module is used for providing a kind of user-friendly interface, wherein: the hardware of virtual instrument module be mainly a general purpose personal computer and
One piece of interface card；
This numeral fluxgate module is made up of the output of excitation power supply, signal condition, digital processing and signal and four parts of feedback；
Excitation power supply in this numeral fluxgate module uses triangular wave excitation, single-chip microcomputer the square wave direct integral produced produces, and driving frequency can
Being revised square wave frequency Indirect method by single-chip microcomputer, the excitation coil of three road fluxgates is connected in series, to ensure the exciting current of three road fluxgates
Unanimously, and using the triangular signal of two complementary outputs to drive fluxgate sensor, the regulation of electrical circuit selects the acquisition of suitable resistance optimal sharp simultaneously
Encourage voltage.
2. Magnetic Heading System as claimed in claim 1, is further characterized in that: this magnetic heading resolves module and includes peripheral support circuit and signal condition electricity
Road；Peripheral support circuit provides the angle of pitch and inclination angle signal, and carries out signal condition；System is to the angle of pitch, inclination angle and fluxgate sensor
Signal is sampled, it is thus achieved that attitude signal and geomagnetic field component, then uses single-chip microcomputer that signal is filtered process, error compensation, course solution
Count word processing, finally gives stable magnetic heading signal, and with host computer real-time Communication for Power.
3. Magnetic Heading System as claimed in claim 2, is further characterized in that: this peripheral support circuit also includes an outside reference circuit.
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| CN201310399926.8A CN103438876B (en) | 2013-09-05 | 2013-09-05 | A kind of Magnetic Heading System based on numeral fluxgate |
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| CN201310399926.8A CN103438876B (en) | 2013-09-05 | 2013-09-05 | A kind of Magnetic Heading System based on numeral fluxgate |
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| CN105023348A (en) * | 2014-04-25 | 2015-11-04 | 北京华夏聚龙自动化股份公司 | Multi-mode eddy current sensor excitation and detection circuit |
| CN107907914B (en) * | 2017-12-26 | 2023-10-20 | 杭州电子科技大学 | Measurement circuit of true geography three-component magnetometer |
| CN110530354B (en) * | 2019-07-22 | 2021-03-26 | 北京航天时代激光导航技术有限责任公司 | Laser gyroscope jitter circuit with single-side power supply and jitter control method |
| CN114779150B (en) * | 2022-06-21 | 2022-09-20 | 成都飞亚航空设备应用研究所有限公司 | Magnetic sensor simulator |
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