Algorithm Design Of MEMS / Magnetometer Integrated Navigation System With Software For Display And Control

In view of the low precision of MEMS devices,the inertial navigation system composed of them can not work alone for a long time,and thus introduce magnetometers to correct the attitude.The integrated navigation system of MEMS devices and magnetometer is designed in this paper.The MEMS/magnetometer navigation system has the advantages of small size and low power consumption.The development of MEMS/magnetometer navigation systems has become a trend.In this paper,the basicd on research of Micro inertial navigation system,and MEMS SINT system is assisted by magnetometer to provide the performance of the system attitude.And for the design of the integrated navigation system,a software that integrates receiving data,processing data,displaying data,and storing data is implemented to help study the integrated navigation system.1.This paper analyzes the working principle and the characteristics of MEMS devices,deduces the solving equation and error equation of MEMS inertial guidance based on the solution of the inertial guidance system,and analyzes the simulation of MEMS inertial guidance.The results prove that MEMS devices can not work alone for a long time.2.In view of the low precision of MEMS gyroscope,and based on the detailed error analysis and compensation method,a integrated navigation system consisting of three-axis MEMS gyroscope,three-axis MEMS accelerometer and three-axis magnetometer is designed.By solving the attitude angles of magnetometers and accelerometers,a Kalman filter is established to estimate the calculated attitude angles.The practicability of the integrated navigation system is verified in sea experiment.3.Design and implement a software based on the Qt platform,written based on C++ language.Through the serial communication technology,real-time data collection is achieved,and the data received can be displayed through the interface of Qt,and data can be processed and stored within the software.This will help follow up on the processing and analysis of data.4.Through simulation and experiment,it is verified that MEMS / magnetometer navigation system has good effect and good engineering practicability.