Research On Pedestrian Movement Trajectory Recording System Based On ARM

The inertial navigation system does not rely on external radiation and signals,and can continue to provide accurate navigation service in a place where the GPS(global satellite positioning system)signal can't reach.Therefore,it has been widely used in rescue,national defense,shopping malls and other fields,and has made important contributions to the development of society.However,due to the low accuracy of MEMS(microelectromechanical system)inertial sensor and the cumulative error of secondary integral operation in navigation system,the output position and navigation information of inertial navigation system are deviated greatly.In this thesis,an inertial navigation algorithm is used to realize the track record of the pedestrian in the embedded ARM system.By querying the relevant literature at home and abroad,this paper expounds the research background and significance of inertial navigation technology,and summarizes the development of inertial navigation technology at home and abroad.This paper introduces a variety of embedded systems,and selects embedded ARM chip suitable for hardware design.Firstly,pedestrian motion data are collected by sensors,and a multi-sensor fusion algorithm is proposed to solve the problem of low accuracy of MEMS inertial sensors.A set of more accurate data is obtained by using multiple sensors to collect data at the same time and using fusion algorithm to obtain a set of more accurate data.For the problem of the cumulative error of the secondary integral operation in the inertial navigation system,an optimal zero-speed detection algorithm for the acceleration angular velocity fusion is proposed.The pedestrian walking error is filtered by the extended Kalman filter,and the embedded algorithm development is carried out according to the system model,and the navigation calculation on the embedded ARM system is completed.The calculated navigation data is stored in the hardware chip,and the navigation data is uploaded to the upper computer application program through Bluetooth to realize the storage and display of pedestrian trajectory.In this thesis,the integration of embedded ARM system and pedestrian inertial navigation system is not only helpful to expand the application scenario of embedded system,but also promote the application range of inertial navigation technology.The experimental results show that the track record of the inertial navigation system is more accurate with the combination of the multi-sensor fusion algorithm and the zero-speed detection algorithm,which is of great significance to the service based on the inertial navigation.