Design Of Inertial Measurement System Based On MEMS Devices

With the development of science and technology,MEMS technology continues to advance,the precision and stability of the MEMS inertial components obtained the very big enhancement,the inertial measurement system based on MEMS devices have the characteristics of small volume,low cost,low power consumption,as an important hardware foundation of inertial navigation technology at the same time,gradually become a hot research field,from theory research to practical application are subject to the attention of more and more domestic and foreign research institutions.The two most common components of MEMS inertial sensors are accelerometer and gyroscope.Accelerometer is used to measure axial acceleration and convert it into available output signal.A gyro is a sensor that measures the angular velocity of a moving body relative to the inertial space.The three-axis MEMS accelerometer and the three-axis MEMS gyroscope are integrated in a system,which can be combined to form an inertial measurement system to measure the acceleration and angular velocity of the three-axis direction of the carrier.The system is widely used in aerospace,military and civil fields.Based on the basic principle and application of inertial measurement system,an imis based on MEMS device is designed and implemented.The system is used to provide inertial measurement data and calculate the output attitude Angle.The main research contents are as follows:Firstly,targeted analysis of the structural characteristics of the system,it is determined that the system hardware is mainly composed of a microcontroller STM32F103 chip,a three-axis MEMS accelerometer,and a three-axis MEMS gyroscope.In this system,the gyroscope can collect the angular velocity in three directions of the carrier in real time,and the accelerometer can measure the acceleration in three directions of the carrier in real time.Hardware design under the development environment of Altium Designer,STM32F103 is used as the microcontroller to design the main control module,acceleration module,gyroscope module and power module of the system,and real-time inertial data is collected for MEMS inertial devices through IIC communication.The software platform carries out embedded development through Keil MDK compilation environment,use floppy drive to connect hardware interface and software interface,and realizes the data acquisition function of the system.Secondly,the filtering algorithm is used to filter the acquired original data of acceleration and angular velocity to reduce noise interference,ensure measurement accuracy and output stable and accurate inertial data.The attitude Angle of inertial measurement system(imu)is calculated by quaternion algorithm according to the angular velocity measured by gyroscope,including pitch Angle,roll Angle and heading Angle.In order to improve the accuracy of the attitude Angle,another group of attitude Angle data is obtained by solving the acceleration data.In this paper,the error data of the two groups of attitude angles are corrected by the kalman filter algorithm designed,and the optimal estimation of the attitude Angle of the system is obtained.It makes the output attitude Angle data more accurate and guarantees the measurement accuracy of the system.Then,the upper computer data acquisition system of the inertial measurement system is designed in the development environment of LabVIEW.Through serial port communication,the real-time triaxial acceleration and angular velocity information collected by the inertial measurement system can be intuitively displayed,as well as the calculated attitude Angle information.Finally,the paper analyzes the static and dynamic error characteristics of the inertial measurement system and verifies the effectiveness and reliability of the inertial measurement system based on MEMS devices.