Algorithm And Software Design And Realization Of Personal Navigation System Based On MEMS Inertial Device

With the development of computer technology,navigation and positioning technology has been inseparable from people's daily life.The application research of personal navigation has become a hot topic in universities and has been paid more and more attention by domestic and foreign scholars.In order to make the navigation system locate continuously in different environments and not be affected by GPS signal,this paper presents a system with function of indoor and outdoor seamless positioning.The main contents and achievements of this paper are as follows:1.In this paper,to meet the hardware requirements for personal navigation system,the overall scheme of the hardware system is put forward,which proposed the navigation computer based on DSP + FPGA and the selection of hardware module is finished.I transplant navigation algorithm in the DSP and build DSP environment,including DSP chip initialization,command files and self guidance,so that the system can realize real-time navigation.2.The temperature compensation and calibration compensation of MEMS sensors are completed to improve the measurement accuracy of inertial device.This paper aims at inertial navigation and GPS integrated navigation,which studies the strapdown navigation algorithm with quaternion as the core and integrated navigation method focusing on loose combination.Furthermore,the Kalman filter with 12-dimensional state variable is designed to realize the integration of GPS data and inertial navigation data.3.Based on the magnetic compass and MEMS accelerometer as the research object,elliptical correction algorithm is proposed to compensate the magnetic compass error to provide heading information in the indoor environment.By analysis of variation of MEMS accelerometer vertical acceleration,adaptive threshold and dynamic accuracy are applied to gait detectio.Step algorithm is vaidated by walking experiments.4.The swing experiments,static experiments and dynamic experiments are carried out The measurement accuracy of combined navigation attitude angle is verified by swing experiments,among which,uniaxial swing experiment shows that the errors of roll angle,pitch angle and heading angle are all within ±0.8°.Through the static experiments the system attitude angle errors are controlled within ±0.50and the speed errors are less than±0.07m/s.Through dynamic experiments,navigation device can effectively provides indoor and outdoor seamless location service and location error is within 5 meters.