Design Of Indoor Inspection And Position System Based On INS Technology

In some special occasions,it is extremely important to inspect the indoor environment in real time.The traditional manual inspection has many disadvantages of heavy workload and subjective factors.It is easy for the negligence of staff to lead to missed inspection and wrong inspection,thus resulting in the failure in the inspection work.In order to solve the disadvantages of traditional manual inspection,a kind of automatic intelligent inspection system which replaces manual inspection comes into being on the basis of making full use of indoor positioning technology and intelligent control technology.In this paper,real-time inspection is carried out for the environment of the substation machine room.In order to achieve the goal of stable,safe and reliable independent inspection,a set of indoor inspection and positioning system based on inertial navigation technology is designed and developed.This system is used to collect indoor environment information in real time,transmit data between the WIFI/4G network and the upper computer platform,and realize positioning and navigation in the target scene.Then this article focus on the calibration method,data preprocessing method and data fusion algorithm in attitude solution of inertial devices are studiled deeply.And combined with actual application scenario,this paper puts forward the suitable for fixed point and position substation room inspection methods,namely based on inertial devices and laser ranging sensors collected data to obtain course Angle,yaw and displacement information to the distance,and combine these information to position and navigate the system,on the basis of ensuring the positioning accuracy of the system,the purpose of stable,safe and reliable inspecion can be finally achieved.This paper first discusses and analyzes the basic principles and key technologies used in inertial navigation and indoor positioning,and then introduces the specific implementation methods of indoor positioning in system design.In terms of hardware design,two STM32F103 microcontrollers are selected as the core of system control unit and positioning and navigation processing unit respectively,and AR9331 microprocessor on the WIFI module board is selected as the core of environment data acquisition unit and communication transmission unit.Then the working principle and using method of each hardware module are introduced in detail,the related interface circuit is designed.In terms of software design,the Open Wrt operating system development environment was built first to provide basic guarantee for application development based on the operating system and AR9331 CPU.Then the software design is divided into five parts: environment data acquisition subroutine,control function subroutine,positioning and navigation subroutine,data transmission terminal program and upper computer debugging software.Finally,the upper computer debugging software is designed to test the developed inspection positioning system,and verify the implementation effect of the above content.The results show that the function and performance of the system have met the requirements of the project,and the system has been tested in a substation room in shaanxi.The work of this paper can be used for reference to complete the task of autonomous inspection under specific circumstances.