Research Of Strap-down Inertial Measurement Unit Based On Embedded System And MEMS

Inertial measurement system developed from the inertial navigation system, the workingprinciple of the two are basically same.This design which applied strap-down inertialtechnology combined embedded system and inertial measurement unit, constituted astrapdown inertial navigation measurement unit. This system used a small volume, low costinertial sensors, using the embedded digital processing chip, developed a simple and effectivethree-axis inertial measurement unit. In this paper, main work is as followed：1.This paper described the present situation and future development trend of inertialnavigation technology both at home and abroad. And also, it introduced the main principleand the calculation method of inertial navigation system, at the same time, also introducedwho the principle and method works in this design.2.In this article, through the Simulink toolbox of Matlab simulation software, using thetheory of quaternions, set the reliable mathematical model. It Is obtained by the simulationsoftware for computer simulation that the corresponding curve navigation parameter anderroranalysis. The experiment error dataproved the mathematics model of system right.3.In order to meet the technical requirements of miniaturization, high precisionmeasurement and real-time applications. The hardware system of the strap-down inertialnavigation system selected the digital signal processor (ARM) as the core and MEMS inertialmeasuring element to set the strapdown inertial navigation platform.4In this design, we writed the executable program of ARM processor chip, debugged thesystem SPI serial bus, and set in the communication function of the ZigBee wirelesscommunication module, configuration and timer interrupt function, so that the system canrealize accurate sampling.5.The signal acquisition and display system was wrriten with VC++language, after thesystem used in test, we got the corresponding numerical curve, thus verified the feasibility ofthe design of strapdown inertial measurement unit.Obtained by simulation of the system and final testing, the results of experiment and testshowed that this design of small inertial measurement unit has good effectiveness, the MEMSinertial angular velocity and acceleration of the measuring element provided the reliableinformation and meet the needs of the design.