Design And Research Of Navigation System Based On IMU

With the development of MEMS(Micro-Electro-Mechanical System)technology,the market need of indoor position is getting bigger.Autonomous Navigation indoor inertial positioning system,does not need the additional infrastructure or network facilities,it can be applied in a more complex environment,compare with the many other way,it has the specific advantages.It is very important technology in industrial production.In general,usually the positioning technology include satellite positioning,ultrasonic positioning,radar reflection and so on,which in the localization of MEMS sensor,can be used for air mouse,somatosensory the game,satellite navigation,and so on,because of its unique performance,small size,low power consumption,so for those of location method focus on highly social concern.However,most indoor inertial positioning system of the base station and the fingerprint positioning method,is expensive,complex,and need to do a lot of things before the fingerprint calibration,not suitable for popularization and application.This paper makes use of a low cost MEMS inertial sensors develop a kind of the indoor navigation positioning system.Human movement has its certain rules,according to the statistical results show that the velocity of the body is generally positively correlated with frequency of pace.In this paper we taking the investigation of adult male case statistics people in motion process and get the parameters of the relationship between the pace and movement,and make the speed of the fitting.According to this principle to infer human motion the distance,it realizes the indoor positioning function of wearable,expand the use range of inertial navigation system.Therefore,the localization technology of IMU(Inertial Measurement Unit)space inertial navigation sensor AHRS(Attitude and heading reference system)is studied in this paper.The main work is as follows:(1)For the localization problem of IMU inertial navigation sensor unit,we make a abstracted math describe,and use the method of combination of number and shape to describe the positioning process.(2)Several common methods of navigation and positioning of IMU are analyzed and compared,and the difficulties and errors in the positioning process are analyzed,and the distance measurement scheme is proposed.(3)The localization algorithm model of IMU is improved,and the PID control algorithm is improved by using the complementary filtering algorithm,ranging,and the inertial navigation attitude measurement is carried out the space ranging and use trapezoidal integration method is used to optimize and realized it in hardware.(4)The motion parameters of human body are extracted according to the law of(5)human motion,and fitted the relationship between the frequency and the velocity of the human foot.The moving distance of the vector is estimated by the frequency of the footstep.(6)According to the positioning method introduced,the space positioning and ranging platform is built and realized the data visualized.(7)By comparing and analyzing the advantages and disadvantages of this method,the paper puts forward a scientific outlook for the new IMU ranging method.