Research On Relief Workers Attitude Monitoring System Algorithm Based On Mems Sensing

At present disasters often happen, but the safety of rescue workers at the scene of the rescue work has no effective monitoring measures. In such dangerous occasions if their work position and work state could be timely and accurately monitored, such as their exact location in a building, whether in moving state and whether standing or lodging, etc., the command center can understand the working conditions and safety situation of rescue teams and ensure that rescue personnel safety and the overall success of the rescue work.With the development of embedded computer technology and micro-electromech-anical (MEMS) sensor technology and the rise of the Internet of things industry, it is possible to design and develop the portable monitoring terminal with a small low cost. This thesis mainly studied the main algorithm involved in the safety monitoring system of relief workers based on MEMS sensor. The main work is as follows:1. Research the basic principle of the combination of micro inertial measurement. Define the coordinate system which is commonly used in strap down inertial navigation system and its transformation relations and give the basic principle of the strap down inertial navigation system. Introduce the working principle of magnetic resistance sensor.2. Complete the hardware design of monitoring terminal; make the structure diagram of hardware design and at the same time design the main chip peripheral circuit.3. The thesis studies the initial alignment problem of micro inertial measurement system, analyzes the alignment process; studies the update algorithm based on quaternion and rotation vector, eliminates the non commutativity error of quaternion algorithm; The data processing algorithm of acceleration sensor is studied and the algorithm is optimized; Magnetic resistance sensor and gyro is studied in combination algorithm of azimuth Angle and attitude Angle measurement vector and the calculation process is given.4. Complete the experimental data of measurement, carry on the error analysis of micro inertial measurement system and complete a variety of performance compen-sation algorithm.