基于DSP的MEMS陀螺信号采集与处理系统设计
摘要
近年来,MEMS(微机电系统)技术的微惯性传感器的研究与发展受到了广泛的重视。微硅陀螺具有体积小、重量轻、可靠性高、易于系统集成等优点,所以它在汽车工业、航空航天以及机器人等领域具有广阔的应用价值和前景。目前MEMS陀螺的精度还不是很高,除改进设计和制造方法提高其精度外,对MEMS陀螺信号进行采集和处理提高其精度也是有效的技术途径。而且研究表明,随机噪声是影响MEMS陀螺精度的重要因素。因此,为了降低MEMS陀螺的噪声,提高其精度,设计了采用TI公司数字信号处理器TMS320F2812的MEMS陀螺信号实时采集与处理系统。有效实现了陀螺信号随机误差部分降噪功能。
首先对所设计的系统中的陀螺信号进行了分析研究,介绍了随机漂移的几种辨识方法。在对试验实测数据进行必要的预处理后,采用时间序列分析法对陀螺随机漂移信号进行ARMA建模,并选择了合适的模型类型和阶次,检验了模型适用性。随后根据ARMA模型参数,建立了状态方程和观测方程,进行了卡尔曼滤波,滤波效果明显。
然后给出了该装置总体软硬件实现方案。硬件方面介绍了TMS320F2812的主要特点,并以该DSP为核心芯片,分析和设计了数据采集处理系统的外围接口电路;软件方面,阐述了利用TI公司的DSP集成开发环境CCS开发系统软件的具体方案,将采集处理按照功能划分为三个任务部分,并给出设计流程,采用C语言与汇编语言混合编程,使这些任务按照指定的优先级运行,提高了系统的工作效率。
经过系统调试,实现了对陀螺信号的采样、转换与传输,并得出信号处理仿真效果,具有一定的工程应用价值。
In recnt years,the research and development of micro-inertial sensors based on MEMS technology has received wide attention.Micro silicon gyroscope is characterized by such advantages as small size,light weight,high reliability,and convienience of integration,etc..,so it has great application value and prosepects in the automobile industry,aerospace and robotics.However,at present stage,the accuracy of MEMS gyroscope is not very high.Besides improving the design and production process,enhangcing the signal acquisition and processing technology of the MEMS gyroscope is also an effective way to raise the accuracy.In order to reduce the nosie of MEMS gyroscope,to improve its nonlinear performance,and increase its accuracy,this paper presents a new design,which applies TMS320F2812 dital signal processor for signal acquisition and processing system.
First,this paper modeled the drift of gyro and design Kalman filter to improve the precision of MEMS gyro,selected time series method to establish an ARMA model and simulate the application of the model before practical experiments.Based on the parameters of the ARMA model,a classic Kalman filter is established.The simulation result showed that the Kalman filter was effective.
After that,the paper presents the overall hardware and software configuration of system.Hardware part introduces the main features of TMS320F2812 and makes the DSP as core chip.Morever,it analysis and designs the data acquisition and processing system of the external interface circuit.Software part divids the the mission into three parts,and gives the design courses.Whole software uses C and assemble mixed in programming and made the mission run as limited priority. After debugging,the sampling,transferring and transmitting is realized.Whole system has acertain engineering application value.
首先对所设计的系统中的陀螺信号进行了分析研究,介绍了随机漂移的几种辨识方法。在对试验实测数据进行必要的预处理后,采用时间序列分析法对陀螺随机漂移信号进行ARMA建模,并选择了合适的模型类型和阶次,检验了模型适用性。随后根据ARMA模型参数,建立了状态方程和观测方程,进行了卡尔曼滤波,滤波效果明显。
然后给出了该装置总体软硬件实现方案。硬件方面介绍了TMS320F2812的主要特点,并以该DSP为核心芯片,分析和设计了数据采集处理系统的外围接口电路;软件方面,阐述了利用TI公司的DSP集成开发环境CCS开发系统软件的具体方案,将采集处理按照功能划分为三个任务部分,并给出设计流程,采用C语言与汇编语言混合编程,使这些任务按照指定的优先级运行,提高了系统的工作效率。
经过系统调试,实现了对陀螺信号的采样、转换与传输,并得出信号处理仿真效果,具有一定的工程应用价值。
In recnt years,the research and development of micro-inertial sensors based on MEMS technology has received wide attention.Micro silicon gyroscope is characterized by such advantages as small size,light weight,high reliability,and convienience of integration,etc..,so it has great application value and prosepects in the automobile industry,aerospace and robotics.However,at present stage,the accuracy of MEMS gyroscope is not very high.Besides improving the design and production process,enhangcing the signal acquisition and processing technology of the MEMS gyroscope is also an effective way to raise the accuracy.In order to reduce the nosie of MEMS gyroscope,to improve its nonlinear performance,and increase its accuracy,this paper presents a new design,which applies TMS320F2812 dital signal processor for signal acquisition and processing system.
First,this paper modeled the drift of gyro and design Kalman filter to improve the precision of MEMS gyro,selected time series method to establish an ARMA model and simulate the application of the model before practical experiments.Based on the parameters of the ARMA model,a classic Kalman filter is established.The simulation result showed that the Kalman filter was effective.
After that,the paper presents the overall hardware and software configuration of system.Hardware part introduces the main features of TMS320F2812 and makes the DSP as core chip.Morever,it analysis and designs the data acquisition and processing system of the external interface circuit.Software part divids the the mission into three parts,and gives the design courses.Whole software uses C and assemble mixed in programming and made the mission run as limited priority. After debugging,the sampling,transferring and transmitting is realized.Whole system has acertain engineering application value.
引文
[1]王承瑶编著.陀螺稳定系统.北京:国防工业出版社.1985
[2]李荣冰,刘建业等.基于MEMS技术的微型惯性导航系统的发展现状.中国惯性技术学报.2004(6):88-94页
[3]李哲英.DSP理论技术与应用技术.北京:北京航空航天大学出版社.2002
[4]王念旭.DSP基础与应用系统设计.北京:北京航空航天大学出版社.2001
[5]傅建国,王孝通,李博,金良.MEMS陀螺随机误差模型研究传感器技术.2005
[6]Osiander R,Darrin MG,Champion JL.MEMS and Microstructures Aero space Application.CRC.Press,2006
[7]Shkel A M.TypeⅠ and TypeⅡ micro machined vibratory gyroscope Procee -ding of Position.Location and Navigation System,2006
[8]杨金显,袁赣南,徐良臣,王嵬.基于微机械陀螺的MIMU关键技术.中国惯性技术学报.2007,(01)
[9]李旭辉.MEMS发展应用现状.传感器与微系统.2006(5):7-9页
[10]张嵘,陈志勇,周斌.硅微陀螺的发展及现状和趋势,中国惯性技术学会惯性仪表与元件专业委员会2005学术交流论文.广西南宁,2005.1-14
[11]沈兰荪.高速数据采集系统的原理与应用.北京:人民邮电出版社.1995
[12]晏培等.数据采集与工业通信.现代制造.2004(13):20-24
[13]苏奎峰,吕强,耿庆锋等.TMS320F2812原理与开发.北京:电子工业出版社.2003
[14]付梦印,邓志红,张继伟.Kalman滤波理论及其在惯性导航系统中的应用.北京:科学出版.2003.10
[15]吉训生,王寿荣,许宜申,盛平.自适应Kalman滤波在MEMS陀螺仪信号处理中的应用。传感器与微系统.2006年第25卷第9期
[16]D W Allan.Statistics of atomic frequency standards.Proceedings of IEEE 1966,Vol.54,No.2:221-230P
[17]李士心.小波去噪理论及其在陀螺漂移信号处理中的运用.博士学位论文.天津大学.2002.12.1
[18]吉训生,王寿荣.硅微陀螺漂移数据滤波方法研究.传感技术学报.2008.2.2(12)
[19]王昊,王俊璞,田蔚风,金志华.梯度RBF神经网络在MEMS陀螺仪随机漂移建模中的应用.中国惯性技术学报.2006.8.14(4)
[20]张树侠,吴简彤.数据建模及预报.哈尔滨:哈尔滨工程大学出版社199
[21]王寿荣.硅微型惯性器件理论及应用东南大学出版社.2000(10)
[22]Navid Yazidi,Farrokh Ayazi,Khalil Najafi.Micromachined Inertial Sen -sors.Proceedings of the IEEE.1998(8):1640-1659P
[23]M.Elwenspoek,R.Wiegerink著.陶家渠,李应选等译.硅微机械传感器.北京:中国宇航出版社,2002:23页
[24]Rand Hulsing.MEME inertial rate and acceleration sensor.Aerospace and electronic systems magazine,IEEE.1998(11):17-23R
[25]IEEE STD 952-1997.IEEE standard specification format guide and test procedure for single-axis interferometric fiber optic gyros.IEEE Sandard Board.1997.
[26]郭秀中.惯导系统陀螺仪理论.北京:国防工业出版.1996.7
[27]候青剑,缪栋,彭云辉.激光陀螺随机漂移数据建模与滤波.中国惯性技术学报2005年8月第13卷第4期
[28]BEI GYROCHIP Ⅱ datasheet,BEI TECHNOLOGIES,INC
[29]何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术.电子工业出版社,2003:32-98
[30]吕雪锋,吴书朝.一种基于TMS320F2812的数据采集系统.工业控制计算机,2006.19(1):11-13
[31]彭启琼,张诗雅,常冉.TI DSP集成开发环境(CCS)使用手册.北京:清华大学出版社,2005
[32]IEEE STD 952-1997 standard specification format guide and test procedure for single-axis interfero metric fiber optic gyros.IEEE Standard Board
[33]Haiying Hou.Modeling Inertial Sensors Errors Using Allan Variance.The University of Calgary's master degree paper.2005
[34]秦永元,张洪钺,汪叔华编著.卡尔曼滤波与组合导航原理.西安:西北工业大学出版社,2004
[35]候青剑,缪栋,彭云辉.激光陀螺随机漂移数据建模与滤波.中国惯性技术学报.2005.8月,13(4)
[36]周志杰,胡昌华.基于非平稳时间序列的陀螺漂移性能建模与预测方法研究.电光与控制.2005.129(3)
[37]杨叔子,吴雅等.时间序列分析的工程应用上,下册.武汉:华中理工大学出版社.1996
[38]王天祥.数字信号处理器DSP及其支持芯片的选择.DSP开发与应用1996:13-16
[39]TMS320F2810,TMS320F2811,TMS320F2812,Digital Signal Proeessors Data Manual.Texas Instruments,2003
[40]TMS320F28x Analog-to-Digital Converter(ADC) Reference Guide.Texas Instruments,2003
[41]TPS767D318 datasheet,Texas Instruments,2003
[42]ISSI.61LV51216 Data sheet.February 2002:1-6
[43]DAC7724 datasheet.TexasInstruments.2002
[44]TMS320x281x,280x DSP Serial Communication Interface(SCI) Reference Guide.Texas Instruments,2003
[45]Texas Instruments.TMS320C28x Optimizing C/C++ Compile User Guide 1999
[46]刘和平,王维俊,江渝等.TMs320x28x DSP C语言开发应用.北京:北京航空航天大学出版社.2003
[47]TMS320C28x Assembly Language Tools User's Guide,Texas Instruments Incorporated,2001
[2]李荣冰,刘建业等.基于MEMS技术的微型惯性导航系统的发展现状.中国惯性技术学报.2004(6):88-94页
[3]李哲英.DSP理论技术与应用技术.北京:北京航空航天大学出版社.2002
[4]王念旭.DSP基础与应用系统设计.北京:北京航空航天大学出版社.2001
[5]傅建国,王孝通,李博,金良.MEMS陀螺随机误差模型研究传感器技术.2005
[6]Osiander R,Darrin MG,Champion JL.MEMS and Microstructures Aero space Application.CRC.Press,2006
[7]Shkel A M.TypeⅠ and TypeⅡ micro machined vibratory gyroscope Procee -ding of Position.Location and Navigation System,2006
[8]杨金显,袁赣南,徐良臣,王嵬.基于微机械陀螺的MIMU关键技术.中国惯性技术学报.2007,(01)
[9]李旭辉.MEMS发展应用现状.传感器与微系统.2006(5):7-9页
[10]张嵘,陈志勇,周斌.硅微陀螺的发展及现状和趋势,中国惯性技术学会惯性仪表与元件专业委员会2005学术交流论文.广西南宁,2005.1-14
[11]沈兰荪.高速数据采集系统的原理与应用.北京:人民邮电出版社.1995
[12]晏培等.数据采集与工业通信.现代制造.2004(13):20-24
[13]苏奎峰,吕强,耿庆锋等.TMS320F2812原理与开发.北京:电子工业出版社.2003
[14]付梦印,邓志红,张继伟.Kalman滤波理论及其在惯性导航系统中的应用.北京:科学出版.2003.10
[15]吉训生,王寿荣,许宜申,盛平.自适应Kalman滤波在MEMS陀螺仪信号处理中的应用。传感器与微系统.2006年第25卷第9期
[16]D W Allan.Statistics of atomic frequency standards.Proceedings of IEEE 1966,Vol.54,No.2:221-230P
[17]李士心.小波去噪理论及其在陀螺漂移信号处理中的运用.博士学位论文.天津大学.2002.12.1
[18]吉训生,王寿荣.硅微陀螺漂移数据滤波方法研究.传感技术学报.2008.2.2(12)
[19]王昊,王俊璞,田蔚风,金志华.梯度RBF神经网络在MEMS陀螺仪随机漂移建模中的应用.中国惯性技术学报.2006.8.14(4)
[20]张树侠,吴简彤.数据建模及预报.哈尔滨:哈尔滨工程大学出版社199
[21]王寿荣.硅微型惯性器件理论及应用东南大学出版社.2000(10)
[22]Navid Yazidi,Farrokh Ayazi,Khalil Najafi.Micromachined Inertial Sen -sors.Proceedings of the IEEE.1998(8):1640-1659P
[23]M.Elwenspoek,R.Wiegerink著.陶家渠,李应选等译.硅微机械传感器.北京:中国宇航出版社,2002:23页
[24]Rand Hulsing.MEME inertial rate and acceleration sensor.Aerospace and electronic systems magazine,IEEE.1998(11):17-23R
[25]IEEE STD 952-1997.IEEE standard specification format guide and test procedure for single-axis interferometric fiber optic gyros.IEEE Sandard Board.1997.
[26]郭秀中.惯导系统陀螺仪理论.北京:国防工业出版.1996.7
[27]候青剑,缪栋,彭云辉.激光陀螺随机漂移数据建模与滤波.中国惯性技术学报2005年8月第13卷第4期
[28]BEI GYROCHIP Ⅱ datasheet,BEI TECHNOLOGIES,INC
[29]何苏勤,王忠勇.TMS320C2000系列DSP原理及实用技术.电子工业出版社,2003:32-98
[30]吕雪锋,吴书朝.一种基于TMS320F2812的数据采集系统.工业控制计算机,2006.19(1):11-13
[31]彭启琼,张诗雅,常冉.TI DSP集成开发环境(CCS)使用手册.北京:清华大学出版社,2005
[32]IEEE STD 952-1997 standard specification format guide and test procedure for single-axis interfero metric fiber optic gyros.IEEE Standard Board
[33]Haiying Hou.Modeling Inertial Sensors Errors Using Allan Variance.The University of Calgary's master degree paper.2005
[34]秦永元,张洪钺,汪叔华编著.卡尔曼滤波与组合导航原理.西安:西北工业大学出版社,2004
[35]候青剑,缪栋,彭云辉.激光陀螺随机漂移数据建模与滤波.中国惯性技术学报.2005.8月,13(4)
[36]周志杰,胡昌华.基于非平稳时间序列的陀螺漂移性能建模与预测方法研究.电光与控制.2005.129(3)
[37]杨叔子,吴雅等.时间序列分析的工程应用上,下册.武汉:华中理工大学出版社.1996
[38]王天祥.数字信号处理器DSP及其支持芯片的选择.DSP开发与应用1996:13-16
[39]TMS320F2810,TMS320F2811,TMS320F2812,Digital Signal Proeessors Data Manual.Texas Instruments,2003
[40]TMS320F28x Analog-to-Digital Converter(ADC) Reference Guide.Texas Instruments,2003
[41]TPS767D318 datasheet,Texas Instruments,2003
[42]ISSI.61LV51216 Data sheet.February 2002:1-6
[43]DAC7724 datasheet.TexasInstruments.2002
[44]TMS320x281x,280x DSP Serial Communication Interface(SCI) Reference Guide.Texas Instruments,2003
[45]Texas Instruments.TMS320C28x Optimizing C/C++ Compile User Guide 1999
[46]刘和平,王维俊,江渝等.TMs320x28x DSP C语言开发应用.北京:北京航空航天大学出版社.2003
[47]TMS320C28x Assembly Language Tools User's Guide,Texas Instruments Incorporated,2001