Design And Implementation Of Integrated Platform For Inertial Positioning System

Inertial positioning technology is mainly and widely applied in the navigation,underground exploration,communications,etc..The current positioning technology achieves location mainly by receiving GPS data,it has advantages of high positioning accuracy,stable positioning error and no accumulation of error,etc..However,when this positioning system is in the blind location that can't receive the GPS signal,it will not be able to accomplish the navigation function well.This paper proposes a three-dimensional inertial positioning system based on sensor aiming at this problem,which can compensate location to the area where GPS is not covered.First of all the article collects the three-axis acceleration,three-axis angular velocity and three-axis magnetic field strength of moving objects by nine-axis motion sensor JY901B,and sents data to the Android smart terminal through Bluetooth.Then the quaternion is obtained by the angular velocity and converts the coordinate system of the acceleration.The acceleration data is integrated to calculate the velocity,and then the velocity value is integrated to calculate the displacement.And final the system uses the magnetic field strength data to find the rotation angle,the final displacement direction is transformed to the direction of geographical coordinates.In the inertial positioning system,In order to reduce the random error and accumulation error,the system uses Kalman filter to deal with the random error in the original data,and proposed the error compensation algorithm based on zero phase filter to compensate for the error of the accumulation.And the system uses OpenGL ES to reconstruct the trajectory of the object in the three-dimensional space on the Android platform,so as to realize the positioning of the moving object.When the development of the inertial positioning system is completed,the paper designed the corresponding experimental program and the performance of the system is verified.Experiments show that the inertial positioning system can achieve the positioning of low-speed moving objects in three-dimensional space.