Inertial Navigation Technology Based On Kalman Filtering

In recent years,based on the Internet of things in the field of indoor moving object location,tracking and service such as application in all aspects of life has played a crucial role,market to the indoor positioning accuracy and continuity have further demand.Because of random and complex indoor environment,thus positioning way is not suitable for outdoor,indoor positioning indoors,signal block cause indoor positioning precision is low and even can't locate other positioning method needs to know in advance the indoor structure and then to deploy,restrict the application environment of indoor location.In this paper,an indoor inertial positioning system scheme based on inertial sensor and kalman filtering algorithm is proposed.Using inertial sensor for acquisition of acceleration,velocity of moving object by kalman filtering algorithm for processing the data is relatively stable,the data is integral operation for Angle displacement and the direction of the moving object,and based on dead reckoning algorithm to get the location information of moving object in the coordinate system.Then,through the ZIGBEE module and bluetooth module to the position of the moving object information to the coordinator,the coordinator via a serial port interface of the transmission of location information to the control side,the interface display the current position of a moving object control end,manually enter the end of the position,the moving object forecast and the movement track of the history,and the end position of the moving object can be obtained by manual input and display interface control end in a particular area,at the same time the finish location coordinates through the data transmission module is sent to a moving object,a moving object to identify according to the initial position coordinates and end coordinates,The control algorithm of moving car is used to automatically drive to the terminal position.The whole system architecture is designed,including interface control terminal,mobile vehicle driving control,data transmission mode and working principle of the system.Finally,each module and the whole system are tested,and the indoor inertial positioning system error is analyzed according to the test results.Through the test results show that indoor inertial positioning system based on kalman filter can be according to their own data calculated to achieve the effect of indoor positioning,and has a good stability,in a short period of time has a relatively high positioning accuracy,indoor positioning function of the moving object was preliminarily realized.