Research On Carrier Aided Localization Based On Attitude Sensors

In this paper,a kind of carrier aided positioning technology based on micro electro mechanical system(MEMS)is studied.As an important method of self localization,self localization technology is widely used in automatic control and detection system.However,since the positioning system not dependent on the characteristics of external information nor to the external radiation energy,so that the positioning accuracy in no reference position under the condition of real-time correction is not ideal;at the same time,the complex structure self positioning system hardware has led to its use in high cost can not be widely used.With the development of MEMS attitude sensor,the self positioning technology based on micro mechanical attitude sensor has the characteristics of simple structure,low cost and so on.Based on micro electro mechanical system based on the traditional self precision positioning technology is low,the use of high cost problems of MEMS self positioning system positioning algorithm and hardware design are studied,and on the basis of research for improving the positioning accuracy of correction algorithm.The main contents include:1)describes the basic principle and technology of self localization technology,discusses the theoretical model of self attitude sensor technology and related algorithm based on coordinate transformation and matrix equation,is established on the basis of self MEMS attitude sensor mathematical model based on.2)analysis of the error sources of self positioning system,on the basis of research for improving the positioning accuracy of the correction algorithm of data,including the Calman filter algorithm,acceleration correction algorithm,velocity displacement reconstruction algorithm.3)the design scheme of the hardware experiment platform based on the attitude sensor is established.The BMX055 attitude sensor made by Bosch company is used as the core component of the hardware platform,and the overall design of the sensor signal acquisition and data transmission circuit is carried out.4)The experiment method of self positioning technology based on hardware experiment platform is designed.The data acquisition and processing of the sensor output signal is done,and the software of the self localization model algorithm and the positioning correction algorithm is implemented using Matlab.Some experimental data are presented and the experimental results are analyzed and summarized.