Based On The Mems Inertial Navigation System Research And Design

Inertial navigation system (INS) does not need external information and has highly autonomous character. And, INS has the advantage of simple structure, low energy consumption. It has been widely used in military, civil, scientific research, aviation, marine and other fields. This article focuses on the INS theory. The actual inertial navigation system is designed. The main work of the paper is as follows:Inertial navigation system which is based on MEMS (micro-electro-mechanical structures) is widely used in a variety of areas with the development of sensor technology. Inertial navigation system which is based on MEMS has a lot of advantages such as small size, low cost and excellent performance. The development of inertial navigation system and the development of MEMS inertial sensors are inseparable. At present, MEMS inertial sensors have been widely used in the development of inertial navigation system. Inertial navigation system which is based on MEMS and ARM9processor has been designed and implemented in this article.According to the basic theory of the quaternion algorithm, the basic principles of strap down inertial navigation system are described in the paper. The author uses the Picard approximation method to solve the quaternion differential equations first, and then the author solves Attitude Matrix by quaternion equation. The attitude angle of inertial navigation can be solved by Attitude Matrix at the same time. The output data of acceleration sensor can be Transform and Integral according to the attitude angle so that the positional parameters can be obtained.The hardware design of the inertial navigation system based on MEMS devices and ARM9processor has been described in great detail, such as the Peripheral circuit design of ITG-3200gyroscope, ADXL345accelerometer, and HMC5843electronic compass. While the power supply circuit and the communication interface are described in detail also. The software design of inertial navigation is also described in great detail, such as the choice of the embedded operating system, the specific transplantation of uC/OS-II operating system on the ARM9processor, especially the Design methods of a variety of tasks, including the MEMS sensor data acquisition task, navigation computing task, the navigation results output task. As well as communication and coordination control methods between the three tasks. In addition, the attitude display interface is designed by using Qt PC programming tool and VTK as3D rendering engine. The author describes the methods of loading three-dimensional graphics in Qt in detail, as well as the implementation of communication protocols between the inertial navigation processor and the attitude display interface. Finally, the author has designed a protocol analysis method based on the state machine, and a series of comparison and analysis has been conducted on the collected sensor data and Navigate calculations.The inertial navigation system platform which based on MEMS sensors and ARM9processor is designed and implemented in this article. Through the analysis of the data, verify the feasibility of the program. The results showed that:In this paper, the design of inertial navigation system based on MEMS devices can meet the general computing requirements of inertial navigation system, and it can be used for autonomous navigation of the ordinary civilian equipment. In addition, the inertial navigation system of this research project can be used as a strong complement to other navigation systems, it can improve the accuracy of the integrated navigation system by provide compensation for other forms of navigation.