Research Of Pedestrian Navigation System Based On Array Inertial Sensor

The inertial pedestrian navigation system is a pedestrian positioning device designed based on MEMS inertial sensor.This system has many advantages,such as low cost,small size,portability,strong anti-interference ability and so on.It can be widely used in many complex environments where satellite signals are strongly interfered,such as high buildings,deep mountains.However,due to the influence of the random noise of the consumer-grade MEMS inertial devices,the random errors will accumulate with the iteration of the inertial navigation solution,and the pedestrian navigation accuracy will be affected.The pedestrian navigation technology based on the array inertial sensor is one of the more effective means to improve this situation and the research has practical significance.This paper analyzes the research status of pedestrian navigation system at home and abroad,and studies the key technologies of array inertial sensor and inertial navigation.On the one hand,the array inertial sensor is designed so as to reduce the random noise of the inertial sensor,suppress the accumulated error and improve the navigation accuracy.On the other hand,in the navigation algorithm,a variety of error correction algorithms are used to correct the navigation trajectory in real time and improve the navigation accuracy.The main work is as follows:1.The hardware circuit of the system is designed,including STM32 main control circuit and array MEMS inertial sensor circuit.STM32 main control circuit is responsible for data transmission and mean fusion of data.The array MEMS inertial sensor circuit is mainly responsible for collecting data and transmitting the data to STM32 main control chip through I2C interface.2.The pedestrian navigation software system is designed,including STM32 single-chip software design and navigation algorithm system design.STM32 software is mainly a 32-way I2C bus communication software design.The navigation algorithm system mainly includes inertial navigation algorithm and various error correction algorithms,such as zero speed correction algorithm,Kalman filtering algorithm and complementary filtering algorithm.3.The pedestrian navigation system is tested and verified in detail.Firstly,the communication function of the array inertial sensor is tested,and then the error analysis is carried out by Allan variance.The results show that the array inertial sensor can effectively suppress the random errors such as random walk and zero instability.Then through the test of outdoor and indoor rectangular tracks in different scenes,the experiment shows that the pedestrian navigation system based on the array inertial sensor can effectively suppress the accumulated error,and can accurately draw the pedestrian's walking track.The pedestrian navigation system based on the array inertial sensor meets the design requirements,and has practical application value.