낮은 노이즈 방출을 위한 AHRS 아날로그 신호 변환기 설계와 구현

Design and Implementation of AHRS Analog Signal Converter for Low Noise Emission

The purpose of this paper is to reduce the measurement error associated with the value of an analog sensor, which is caused by the noise induced by the analog signal line at the output signal line of AHRS (Attitude and Heading Reference System) when various sensors, particularly those sensors outputting very weak analog signals, exist along with AHRS that outputs digital signal at a system having a limited space. The most important example of such system is UUV (Unmanned Underwater Vehicles). UUV is basically equipped with AHRD and also has a limited space. In other words, it is a system to amplify a variety of acoustic sensors by elevated gains. This paper designs and implements AHRS analog signal converter that would convert digital signal outputted by AHRS into a voltage or current signal in order to easily reduce digital noise induced to the signal line of an analog sensor in such system. After then, this paper tests and assesses the performance of this AHRS analog signal converter. As a result of the experiment, it was confirmed that it had an excellent performance with the angle output error of 0.00015° at the analog output linearity experiment. In the sensor linkage experiment, the mean angle error was confirmed to be 1.2°, whereas the maximum angle error was confirmed to be 3.4°. It was confirmed that the proposed system could be utilized as an analog signal converter of various sensors having digital output if a proper calibration on a sensor was conducted based on these results of the experiments.