Design And Implementation Of Shoe-Mounted Radar

With the booming of location services and the increasing number of large buildings,people's demand for pedestrian navigation services is increasing.In the special cases of emergency evacuation,mine rescue,medical custody,post-disaster rescue and meticulous management,pedestrian navigation information is especially important.Therefore,it is of great significance to study how to improve the positioning accuracy of pedestrian navigation system in order to promote the development of high precision positioning and navigation,emergency safety and Io T industry.The thesis is supported by the Innovation Project of postgraduate research in Chongqing,"Three-dimensional indoor positioning and navigation of firemen emergency".The project aims to study the methods and systems of indoor positioning of firefighters with multiple technologies.This thesis presents a designed scheme of shoe-mounted radar.The scheme is to solve the relative position and attitude between the two feet,for pedestrian navigation system of the design or auxiliary IMU pedestrian navigation system zero velocity updating,improve system accuracy to reduce systematic error.Firstly,the thesis introduces the related theories and techniques,including software radio,Zero-IF,relative position and attitude,the whole cycles ambiguity and so on.The design of this thesis is to install two transmitter antennas on one foot and the two receiver antennas on the other foot.The two different frequency baseband signals will be up-conversion to the radio frequency,and transmitted by the transmitter antennas.The receiver antennas down-converts the received mixed signals to the baseband,separates the 2-channel signal by the band-pass filter,obtains the phase value of the 2-way signal,and each channel is displaced by the phase difference of the two received signals to obtain the relative position.The formula derivation and simulation prove the feasibility of the system.Then the thesis describes the realization of the shoe-mounted radar,including hardware and software parts.Hardware part includes AD9361 RF board and AD9361 control motherboard,control motherboard integrated FPGA and ARM.The software part is the AD9361 control program.The FPGA generates the basebands signals that transmitted by the AD9361,processing of baseband signals with orthogonal down-conversion after AD9361 receiving and calculates the phase of the received signal.AD9361 is controlled through the ARM implementation,STM32 is used to control configuration AD9361 related registers,set reasonable parameters,modulate the transmitted signal and demodulate the received signal.Finally,through the experimental test,we find out the phase,calculate the distance,the result of the results is expected,the error maximum is no more than 5%,and the realization of the scheme is verified.In this paper,we study a shoe-mounted radar program,and it can be used for the pedestrian navigation system or to assist zero velocity updating of IMU pedestrian navigation system,which provides a new idea for pedestrian navigation system research and development.