An Complex-sensor-based Trajectory Tracking Technology Research

With the popularity of intelligent devices,MEMS devices are used more and more widely.The trajectory tracking technology which uses MEMS devices for inertial measurement unit has important application value in the field of navigation system, human-computer interaction.Traditional positioning technology is mainly more dependent on external reference frame,for example,GPS,although the system has high precision,but the device is complexed and costly,the system has a long development cycle,and it is subjected to the reference system.In this paper,a track positioning system is designed,the system is made up of ATMEGA328 and MPU-6050 comolex sensor which is integrated triaxial accelerometer and triaxial MEMS gyroscope.The system can track and locate the trajectory of an object in three-dimensional space for free movement.For the principle of the tracking and tracing is to use Newton’s second law.First the acceleration of the object should be measured,and the displacement of the object can be obtained by integrateacceleration twice.A corresponding filtering and correction algorithms are designed to compensate the measurement error of inertial measurement devices.As for hardware implementation aspects,theacceleration and angular rate data measured by the sensor should be written to the SD card firstly,then transfer the data which is in the SD card to the PC, the object motion data is processed finally in the MATLAB environment in the PC. The final section presents part of the code and experimental results,and the experiment results show that the system’error is about 10% which is caused by the measurement error of MEMS inertial device. It still need to research before applied.