Research And Design Of Underwater Inertial Navigation System Based On MEMS Technology

Inertial navigation,which depends on its autonomy,has a wide utilization in the fields of ocean,land and aviation.Recently,along with the development of electromechanical system technology and continuous improvement,the precision and stability of MEMS inertial devices have been improved.Inertial navigation system based on MEMS has also been widely used in the prospection and development of marine resources.Underwater inertial navigation technology is one of the important branches in the field of marine technology,it is not only a necessary condition for the underwater vehicle to get information,but also determines whether the underwater vehicle can safe operation and return.In this paper,a kind of underwater inertial navigation system based on MEMS is designed.The overall structure of the system is an inertial measurement unit composed of three axis gyroscopes and a three axis accelerometer.The inertial measurement unit and the three axis magnetometer constitute a combined inertial navigation unit..This paper chooses STM32F303VCT6 chip as the main control processor,L3GD20 chip is selected as the three axis MEMS gyroscopes,choose LSM303 DLHC chip as the three axis MEMS accelerometer and three axis magnetometer,and the whole circuit of small volume,low power designed.According to the inertial navigation principle guidance system,data fusion technique based on Kalman filter,the real-time calculation of attitude data is realized.Based on the compensation algorithm of velocity rotation effect and velocity rowing effect,the real-time solution of velocity and position is realized,and the algorithm is realized based on STM32 embedded software.In this paper,the system is tested on three axis non magnetic rotating platform,and the static and dynamic performance of the system is tested,The results show that the static characteristics of attitude and position have exceeded the performance of similar products in the market.In this paper,C# software is used to carry out the 3D display of the system attitude,which is used for the real-time attitude measurement of the system.The results show that the system designed in this paper has a certain reference value for the low cost underwater equipment.