A Radar Wave Flow Measuring Auxiliary Positioning System Based On STM32

In recent years,hydrological flow measurement has become a major undertaking concerning the people's livelihood of the country.Flood and waterlogging disasters can be prevented by accurate hydrological measurement.At present,hydrological flow measurement technology is gradually developing towards high technology,and it has become a development trend to apply GPS positioning technology to hydrological flow measurement.In the operation of radar wave meter,the running distance is obtained by the encoder instead of the difference of the geographical coordinates of the meter.This method has many disadvantages in practical application.In view of this problem,this topic proposed to use GPS positioning way to obtain the position of the current meter,so as to achieve the positioning function of the current meter.Radar current meter is generally used for hydrological monitoring of unmanned station.The surrounding environment is relatively complex,and GPS positioning performance is greatly affected by environmental factors,so a single GPS navigation system can not meet the positioning needs of current meter.With the mature application of integrated navigation technology,the solution of GPS/SISN integrated navigation in the positioning system of current meter is proposed.In this paper,the basic principles of the integrated navigation system are summarized.Secondly,the hardware modules are selected according to the functions and needs of the positioning system,the circuit schematic diagram is drawn and the hardware structure of the integrated navigation system is completed.After that,the software Keil is used to write programs to complete the navigation data collection function.The original data received by GPS module and inertial navigation module are analyzed and processed.After outliers filtering and Kalman filtering the latitude and longitude information received by GPS module,the positioning accuracy can reach within 0.7m.Secondly,the inertial sensor random error is analyzed and modeled,and the inertial sensor random error term and error characteristic parameters are obtained.Finally the design of the integrated navigation system,choose loose coupling structure,and the EKF filtering algorithm and AKF algorithm simulation,the experimental results show that the location of the output after integrated navigation accuracy within 0.5 m,the error for current meter location can be ignored,the integrated navigation system can be applied to the auxiliary positioning of radar wave velocity meter.