Design Of Autonomous Positioning System Based On SINS

Location information has always been one of the many essential information in human production and life.With the continuous improvement of science and technology,drones,unmanned vehicles and other types of robots have appeared in various positions in large numbers,followed by the increasing demand for precise positioning navigation.Unlike outdoors,indoor environment is more complex,and the indoor positioning scheme based on wireless technology has high cost and poor stability.The positioning scheme based on inertial navigation technology can realize the positioning navigation function without any external information,but its positioning accuracy is poor.To further improve the accuracy of indoor positioning,in this paper,based on the strapdown inertial navigation technology,the inertial navigation is deeply analyzed and studied.Based on the research on the indoor positioning function of the traditional inertial navigation system,the error factors affecting the positioning accuracy of the inertial navigation system are compensated and optimized,and the hardware and software systems are designed to verify.The main work of this paper includes : Firstly,the basic principle of inertial navigation system and related theories are described and analyzed,and several common attitude calculation algorithms in positioning navigation are compared and analyzed.Secondly,in terms of the hardware design of the autonomous positioning system,this paper builds a hardware mobile test platform for the system based on STM32F103 micro-processing and discusses the selection of each module in the hardware platform of the system and its functions in the system.At the same time,the use of each module and the design of the interface circuit are described in detail.Thirdly,in terms of the software design of the autonomous positioning system,this paper divides the software design into platform motion program,positioning and navigation program and data transmission program according to the function of the system to achieve positioning.The data transmission program realizes Wi Fi and Bluetooth wireless transmission modes respectively.Finally,to achieve higher indoor positioning accuracy,this paper conducts in-depth research and exploration on the initial calibration of inertial system,the processing method of inertial data and the inertial information fusion algorithm.The data collected by gyroscopes and accelerometers are processed respectively,and a BP neural network optimized by chaotic particle swarm optimization is proposed to assist Kalman filter for attitude estimation.At the same time,this paper also introduces the trapezoidal integration method,which further reduces the error of using acceleration signal integration to calculate displacement.In addition,the host computer software is designed and tested with the hardware mobile platform designed in this paper,which mainly undertakes the function of positioning and navigation information display.The experimental results show that the autonomous positioning system designed in this paper can realize the positioning and navigation function with high accuracy,which has certain reference significance for the indoor positioning scheme in practical engineering.