CN103438876A - Magnetic heading system based on digital magnetic flux gate - Google Patents
Magnetic heading system based on digital magnetic flux gate Download PDFInfo
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- CN103438876A CN103438876A CN2013103999268A CN201310399926A CN103438876A CN 103438876 A CN103438876 A CN 103438876A CN 2013103999268 A CN2013103999268 A CN 2013103999268A CN 201310399926 A CN201310399926 A CN 201310399926A CN 103438876 A CN103438876 A CN 103438876A
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Abstract
The invention relates to a magnetic heading system which is an apparatus for measuring the direction by using the earth magnetic field. The problem of relatively poor temperature performance when a signal is processed by adopting an analog circuit in the magnetic heading system is solved. The invention adopts a magnetic heading system consisting of a digital magnetic flux gate for processing the signal by adopting singlechips. According to the magnetic heading system, a magnetic flux gate signal is directly converted into a digital signal, and the digital signal is processed by using the singlechips instead of a conventional analog circuit. The magnetic heading system comprises a power supply source, a digital magnetic flux gate module, a magnetic heading calculating module, a communication module, a virtual instrument and the like. The digital magnetic flux gate circuit is a closed-loop control circuit, and three paths of magnetic flux gate signals are directly sampled by adopting high-speed and high-precision AD (Analog Digital) of two singlechips C8051f064. The magnetic heading calculating circuit acquires the digital magnetic flux gate output signal by using another singlechip and carries out heading calculation. The communication module realizes communication between the singlechips and peripherals, between the singlechips, and between the singlechips and an upper computer. The virtual instrument is capable of displaying the status and a heading angle of the system and data inside the system in real time, and also controlling the system to automatically carry out debugging.
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 digital fluxgate.
Background technology
Magnetic Heading System claims again magnetic compass, is a kind of device that utilizes the magnetic field of the earth direction of measurement.The use on unmanned plane of take is example, and the output of Magnetic Heading System is that the head of unmanned plane points to.Since the sixties in last century, unmanned plane as the target practice training target is paid attention to, far read magnetic compass because the advantage of volume, weight, cost etc. has obtained application in the unmanned plane course is measured, with vertical gyro, be combined afterwards, platform-type Magnetic Heading System has appearred, the shortcoming of this system is complex structure, and volume is large, and cost is high.The develop rapidly of single-chip microcomputer and microsystems technology, the particularly application of single-chip microcomputer, magnetic heading measurement is entered new developing period, complicated physical construction and servomechanism are replaced by the power of single-chip microcomputer, complicated calculating is no longer also a difficult problem, i.e. the digital Magnetic Heading System of so-called strapdown.This system adopts magnetic sensor to measure the component of terrestrial magnetic field at aircraft longitudinal axis, transverse axis and vertical pivot, from vertical gyro, obtains the angle of pitch and pitch angle signal, with single-chip microcomputer, directly calculates magnetic heading.Magnetic Heading System has been broken away from complicated physical construction first, and reliability, measuring accuracy increase substantially, and production cost declines to a great extent.
But the development along with the unmanned plane technology, magnetic-field measurement is all being proposed to harsher requirement aspect form, stability and accuracy, Magnetic Heading System temperature influence based on conventional fluxgate is large, the temperature stability of output signal is poor, and mimic channel wherein improves the high debug difficulties of performance cost.
The content of invention
For addressing the above problem, the present invention adopts a kind of Magnetic Heading System based on digital fluxgate, this system can directly be converted to digital signal by the fluxgate signal, utilize single-chip microcomputer to replace traditional mimic channel to carry out the signal processing, digital processing is temperature influence not, thereby improves the temperature performance of whole circuit.
The present patent application relates to a kind of Magnetic Heading System based on digital fluxgate, and this Magnetic Heading System resolves module, communication module and virtual instrument module by power supply module, digital fluxgate module, magnetic heading and forms, and it is characterized in that:
This power supply module provides outside and internal electric source for Magnetic Heading System;
This numeral fluxgate module is used two single-chip microcomputers to process the three-way output signal of fluxgate sensor, for the fluxgate signal directly being converted to digital signal, completing, comprises that simulating signal is to digital signal conversion, digital processing and signal condition function;
This magnetic heading resolving circuit module is used another single-chip microcomputer to carry out course and is resolved;
This communication module is for the treatment of communicating by letter between the communication between communicating by letter between single-chip microcomputer and peripheral hardware, single-chip microcomputer and single-chip microcomputer and host computer;
This virtual instrument module is for providing a kind of user-friendly interface, can on multi-purpose computer, add some special softwares and necessary instrument hardware module, make the user operate this multi-purpose computer just as own custom-designed conditional electronic instrument of operation.
The feature of this Magnetic Heading System also is: this numeral fluxgate module is exported and is fed back four parts by excitation power supply, signal condition, digital processing and signal and forms.
The feature of this Magnetic Heading System also is: this magnetic heading resolving circuit comprises peripheral support circuit and signal conditioning circuit; Outside auxiliary circuit provides the angle of pitch and pitch angle signal, and carries out signal condition; System is sampled to the angle of pitch, pitch angle and fluxgate sensor signal, obtain attitude signal and geomagnetic field component, then use single-chip microcomputer to carry out filtering processing, error compensation to signal, the digital processing such as is resolved in course, finally obtain stable magnetic heading signal, and with the host computer real-time Communication for Power.
The feature of this Magnetic Heading System also is: this peripheral support circuit module also comprises an outside reference circuit.
The accompanying drawing explanation
Fig. 1, the Magnetic Heading System module structure drafting the present invention relates to
Fig. 2, the power circuit diagram the present invention relates to
The schematic diagram of Fig. 3, the digital fluxgate sensor that the present invention relates to
Fig. 4, the digital fluxgate signal conditioning circuit figure the present invention relates to
Fig. 5, the digital fluxgate feedback signal conditioning circuit diagram the present invention relates to
Fig. 6, the magnetic heading the present invention relates to are resolved the theory diagram of module
Fig. 7, the magnetic heading resolving circuit module auxiliary circuit outside reference circuit the present invention relates to
Fig. 8, the magnetic heading resolving circuit module auxiliary circuit signal conditioning circuit the present invention relates to
Fig. 9, the virtual instrument the present invention relates to form schematic diagram
Embodiment
The Magnetic Heading System the present invention relates to comprises power supply module, digital fluxgate sensor circuit module, magnetic heading resolving circuit module, communication module and five modules of virtual instrument module.Fig. 1 is the Magnetic Heading System module structure drafting the present invention relates to.This system adopts three single-chip microcomputers altogether, and wherein signal processing module is used two single-chip microcomputers to process the three-way output signal of fluxgate sensors, and course is resolved module and used another single-chip microcomputer to carry out course to resolve.Communication module mainly connects Magnetic Heading System and virtual instrument.Virtual instrument is to be the display terminal of Magnetic Heading System, is also the instrument that carries out system development, debugging.Embodiment is as follows:
1. power supply module
Provide ± 12V of the Magnetic Heading System external power source DC voltage the present invention relates to, internal system device operating voltage respectively+5V and+3V, therefore need power module to carry out voltage transitions.Circuit divides simulation circuit part and digital circuit part, and corresponding power supply also is divided into analog power and digital power.System is used same stabilized voltage supply, and this need to add simple filtering between digital power and analog power.
What the voltage conversion device in the Magnetic Heading System the present invention relates to adopted is AS1117-5V and AS1117-3.3V low voltage difference voltage stabilizing chip, their maximum output current is 800mA, minimum input and output pressure reduction is 1.2V, this very little source effect and load effect and very low temperature coefficient, can meet requirement of system design fully, circuit as shown in Figure 2.
Power supply circuit in the Magnetic Heading System the present invention relates to, adopting the working power voltage of the integrated operational amplifier of single power supply is+5V to be required to be it in application bias voltage is provided, half that magnitude of voltage is supply voltage ,+2.5V; The reference voltage of ADC and DAC is also+2.5V; Half that the bias voltage of ADC front end modulate circuit is its reference voltage ,+1.25V.Therefore, system is required to be this class device these voltage references is provided, and the present invention selects the voltage reference of the inside+2.5V of one of them single-chip microcomputer, after operational amplifier drives, offers related device; + 1.25V voltage by front+2.5V voltage produces through electric resistance partial pressure and after increase driving.
2. digital fluxgate circuit module
What numeral fluxgate module adopted is existing three axis fluxgate sensors, exports respectively the simulating signal of three tunnel same form, and corresponding treatment circuit is also identical.Figure 3 shows that the schematic diagram of digital fluxgate sensor.Numeral fluxgate circuit comprises excitation power supply, signal conditioning circuit, digital processing and signal output and feeds back several parts.
From the survey magnetic principle of fluxgate sensor, it is saturated that every half period of sensor iron core all needs to reach the degree of depth, and this requires the field signal that exciting circuit produces in iron core that enough amplitudes are arranged, and usually uses sine wave, triangular wave or square-wave signal.In various pumping signals, radio-frequency component amplitude minimum during sine-wave excitation in the fluxgate output signal, be conducive to signals collecting, but the circuit structure complexity, and phase place is difficult to accurate control, uses Direct Digital Frequency Synthesizers, and cost is higher.
Exciting circuit in the present invention's numeral fluxgate module adopts the triangular wave excitation, and the square wave direct integral produced by single-chip microcomputer produces, and excitation frequency can be revised the square wave frequency Indirect method by single-chip microcomputer.The drive coil of three road fluxgates is connected in series, consistent with the exciting current that guarantees three road fluxgates, but the problem of bringing thus is, the highest amplitude of amplifier output is 5V, be not enough to produce Optimum Excitation magnetic field, therefore circuit adopts the triangular signal of two complementary outputs to drive fluxgate sensor, and the regulation of electrical circuit selects suitable resistance to obtain Optimum Excitation voltage simultaneously.
Sensor output signal a little less than, and be mingled with undesired signal, should not directly send into AD and be gathered, therefore need to carry out signal condition.In digital fluxgate, the introducing of single-chip microcomputer, make part conditioning task can be completed by software, simplified the hardware configuration of signal condition module, therefore this module mainly completes the translation of sensor signal current potential and signal amplification, can carry out simple filtering when needed.
(1) signal filtering
As shown in Figure 4, the tickler of the fluxgate sensor used in circuit and secondary coil are same coils, so feedback voltage signal is included in sensor output signal.Feedback signal can be thought direct current signal, the frequency of useful sensor output signal is relatively high, with one of measured signal, do not deliver to Acquisition Circuit in order to make feedback signal, usually use capacitance and voltage follower in modulate circuit, make capacitance and voltage follower form a Hi-pass filter.In figure, utilize capacitance C46 and resistance R 27 to form a RC Hi-pass filter, general R and C value are very large, so cutoff frequency f is lower, very little on the impact of measured signal, can ignore.
(2) signal amplifies
Sensor output signal is less, must use prime amplifier.In figure, adopt in-phase amplifier to be amplified signal.Amplifier adopts single power supply, be connected on filtering circuit one end+1.25V voltage provides suitable DC offset voltage for amplifier.The voltage gain of amplifying circuit is approximately: A
v=1+R29/R28
The single-chip microcomputer that native system adopts is C8051F064.This chip is 8 single-chip microcomputers of high performance-price ratio that Silicon Laboratories company produces, and is fully-integrated mixed signal SOC (system on a chip) type MCU.
The signal output apparatus module is closed-loop control system, therefore need to be converted into simulating signal to the digital signal of single-chip microcomputer output and feed back to input end.Feedback channel comprises DA conversion and signal condition two parts.DA adopts respectively 16 two-way Voltage-output chip DAC8552 and 16 single channel Voltage-output chip DAC8551 of TI company.The DAC855x family chip has ultralow short-time pulse waveform interference characteristic, degree of accuracy can reach 4LSB, low power dissipation design, electrification reset output zero setting, schmidt trigger input, double buffering input framework, there is output buffer amplifier on the sheet of track to track, synchronous or serial output is upgraded and is turn-offed, and by low-power consumption SPI serial line interface and single chip communication, meets system requirements.
Signal condition partly comprises low-pass filtering and follower.Circuit as shown in Figure 5.Wherein low-pass filtering can produce level and smooth output voltage, usually claims that this low-pass filter is smoothing filter, and its cutoff frequency equals 1/4th of DAC output holding frequency.Because the output driving force of DAC is limited, therefore after wave filter, adding follower increases the feedback signal driving force, then selects suitable resistance to be connected in backfeed loop, takes full advantage of the output area of DA.The output measuring junction that X+ in figure, X-are sensor circuit.
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 pitch angle signal, and carries out signal condition.System is sampled to the angle of pitch, pitch angle and fluxgate sensor signal, obtain attitude signal and geomagnetic field component, then single-chip microcomputer carries out filtering processing, error compensation to signal, and the digital processing such as is resolved in course, finally obtain stable magnetic heading signal, and with the host computer real-time Communication for Power.
For adjustable analog angle signal is provided to system, peripheral support circuit module of the present invention also comprises an outside reference circuit as shown in Figure 7.Wherein, design circuit, with the angle signal of mean-90-+90 of 0-+5V degree, utilizes respectively rheostat R73 and R79 that the angle signal needed is provided.The voltage signal that the angle of pitch, pitch angle signal are 0-+5V, and ADC input range be 0-+2.5V, therefore need to carry out pre-service to this angle signal.
Figure 8 shows that the signal conditioning circuit schematic diagram, its function mainly completed is that signal amplifies and the current potential translation functions.Modulate circuit need to satisfied condition be:
(1) input 0-+5V, be output as+0.25V-+2.25V of correspondence;
(2) when input is unsettled, be output as 0 degree signal, i.e. 1.25V;
The single-chip microcomputer scheme of selecting inside to comprise AD in magnetic heading resolving circuit module involved in the present invention.Rate request to AD is not high, but the system-computed amount is very large, therefore should select the High Performance SCM with high-precision A/D.Magnetic heading resolving circuit module involved in the present invention adopts C8051F352 (hereinafter to be referred as the MCU_0) single-chip microcomputer of Silicon Laboratories company, and it is fully-integrated mixed signal SOC (system on a chip) type MCU.
4. communication module
Communication in native system comprises the three kinds of communications of communicating by letter between communication between communicating by letter between single-chip microcomputer and peripheral hardware, single-chip microcomputer and single-chip microcomputer and host computer.
(1) with the peripheral communication module
In system single-chip microcomputer and communicating by letter of peripheral hardware mainly refer to DAC between communicate by letter.Single-chip microcomputer is to its output control command and data.This module is only carried out one-way communication, but requires speed higher, and communication distance is very short, and uses frequently, requires programming simple, has therefore selected spi bus.Serial peripheral equipment interface SPI provides accesses full-duplex serial bus flexibly.Can be used as main device and from device, have 3 linemans to make mode and 4 linemans make mode, and be supported on same spi bus and connect a plurality of main devices and from device.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, is only exported data and command operation, DAC as single from device.So bus is operated in 3 line master modes, the input that single-chip microcomputer utilizes an IO mouth to control DAC simultaneously triggers.
(2) communication module between single-chip microcomputer
Because the Magnetic Heading System the present invention relates to comprises three single-chip microcomputers, need three processor collaborative works when carrying out system debug.Therefore need to carry out communicating by letter between single-chip microcomputer.This communication module communication distance is short, and rate request is not high, has selected the SMBus bus.
This interface is the bidirectional linked list bus of a two-wire, on a bus, a plurality of main devices can be arranged, and can coordinate the device of the friction speed on same bus, and the maximum device number on bus is subject to the restriction of desired rising and falling time; On bus, the operating voltage of different components can be different; System be take byte as unit to the operation of bus, has the SMBus interface automatically to control the serial transmission of data; Main device is can addressing a plurality of from device, and the maximum rate of data transmission can reach 1/10th of system clock frequency; Only need simple pull-up resistor to connect, simple and convenient.
(3) with the host computer communication module
RS-232C is the maximum a kind of standard for serial communication of application at present, is a kind of standard communication interface of microcomputer.The transmission range of this communication module is relatively far away, but rate request is lower, selects RS-232C interface and host computer to carry out exchanges data simple.Communication module in the Magnetic Heading System the present invention relates to is selected the SP3223 smart transceiver of SIPEX company.This transceiver only needs several external capacitors to get final product work, connects simply, and power-down mode and automatic arousal function are arranged, and two groups of translation interfaces are provided, and guarantees the peak transfer rate of minimum 120Kbps.In use, circuit removes handshake, uses one group of translation interface, adds public ground wire, uses three minimum lines to complete serial communication.
5. virtual instrument
Virtual instrument in the present invention is the instrument that Magnetic Heading System is developed, debugged.Utilize it can be easy to realize software development, system data is analyzed, processed and shows, even control system is carried out error compensation.
As shown in Figure 9, the hardware of virtual instrument module is mainly a general purpose personal computer (PC) and an 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 the communication between PC and Magnetic Heading System.
Magnetic Heading System board design in the present invention includes the RS232 interface, therefore with PC, by the RS232 interface, directly is connected, and forms the hardware of virtual instrument.When the software systems of Magnetic Heading System are debugged in exploitation in the early stage, also need to debug accordingly adapter.Adapter, by special JTAG debugging interface connected system circuit board, connects computing machine by USB interface.
The present invention adopts by single-chip microcomputer and samples the fluxgate signal directly is converted to digital signal, and carries out the application of high-precision A/D, for improving system accuracy, lays the first stone.Utilize single-chip microcomputer to carry out the software processing.Digital processing is temperature influence not, thereby improves the temperature performance of whole circuit, utilizes high-speed microprocessor can carry out complicated algorithm process simultaneously, when simplifying circuit system, improves the stability of system.
Claims (4)
1. the Magnetic Heading System based on digital fluxgate, this Magnetic Heading System resolves module, communication module and virtual instrument module by power supply module, digital fluxgate module, magnetic heading and forms, and it is characterized in that:
This power supply module provides outside and internal electric source for Magnetic Heading System;
This numeral fluxgate module is used two single-chip microcomputers to process the three-way output signal of fluxgate sensor, for the fluxgate signal directly being converted to digital signal, completing, comprises that simulating signal is to digital signal conversion, digital processing and signal condition function;
This magnetic heading resolving circuit module is used another single-chip microcomputer to carry out course and is resolved;
This communication module is for the treatment of communicating by letter between the communication between communicating by letter between single-chip microcomputer and peripheral hardware, single-chip microcomputer and single-chip microcomputer and host computer;
This virtual instrument module is for providing a kind of user-friendly interface, can on multi-purpose computer, add some special softwares and necessary instrument hardware module, make the user operate this multi-purpose computer just as own custom-designed conditional electronic instrument of operation.
2. Magnetic Heading System as claimed in claim 1 is further characterized in that: this numeral fluxgate module is by excitation power supply, signal condition, digital processing and signal output and feed back four parts and form.
3. Magnetic Heading System as claimed in claim 2, be further characterized in that: this magnetic heading resolving circuit comprises peripheral support circuit and signal conditioning circuit; Outside auxiliary circuit provides the angle of pitch and pitch angle signal, and carries out signal condition; System is sampled to the angle of pitch, pitch angle and fluxgate sensor signal, obtain attitude signal and geomagnetic field component, then use single-chip microcomputer to carry out filtering processing, error compensation to signal, the digital processing such as is resolved in course, finally obtain stable magnetic heading signal, and with the host computer real-time Communication for Power.
4. Magnetic Heading System as claimed in claim 3, be further characterized in that: this peripheral support circuit module also comprises 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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Cited By (4)
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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 |
| CN107907914A (en) * | 2017-12-26 | 2018-04-13 | 杭州电子科技大学 | A kind of measuring circuit of very geographical three-component magnetometer |
| CN110530354A (en) * | 2019-07-22 | 2019-12-03 | 北京航天时代激光导航技术有限责任公司 | A kind of the shaking laser gyroscope circuit and vibration control method of single side feeding |
| CN114779150A (en) * | 2022-06-21 | 2022-07-22 | 成都飞亚航空设备应用研究所有限公司 | Magnetic sensor simulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110530354A (en) * | 2019-07-22 | 2019-12-03 | 北京航天时代激光导航技术有限责任公司 | A kind of the shaking laser gyroscope circuit and vibration control method of single side feeding |
| CN114779150A (en) * | 2022-06-21 | 2022-07-22 | 成都飞亚航空设备应用研究所有限公司 | Magnetic sensor simulator |
| 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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