Design Of Indoor Positioning Mobile Test System Based On INS Technology

With the mature application of outdoor positioning and navigation technology,the demand for precise positioning and navigation technology of indoor environment is increasing day by day.In the indoor positioning,the stability and effectiveness of the indoor positioning technology based on wireless network is not good.However,the indoor positioning method based on inertial sensor can realize the autonomous positioning and navigation without relying on wireless network information.In order to improve the accuracy of indoor positioning,this paper mainly studies the inertial navigation system.Based on the study of the traditional inertial navigation positioning process,aiming at the problem of positioning accuracy caused by the accumulation of inertial navigation error over time.This paper discusses the causes of the error and finishes the relevant optimization.What's more,the hardware system mobile platform is designed for experiment to verify the positioning accuracy of the system.This paper aims at the design and implementation of the indoor positioning of the inertial navigation technology,designed an indoor positioning mobile test hardware platform based on inertial navigation.The main content includes three parts:(1)the basic principle and key technology of indoor positioning technology based on inertial navigation are described and analyzed.On the other hand,the positioning process of indoor environment is introduced in detail;(2)in the aspect of hardware design,the author chooses STM32F103 microcontroller as the control core of the whole system and the core unit of navigation algorithm processing,and introduces the use method,working principle and the design process of interface circuit of each related module in detail;(3)in the aspect of software process design,according to the function of various modules,the software design is divided into hardware platform motion module,positioning navigation processing module and data transmission module.In order to reduce the influence of various kinds of errors on indoor positioning accuracy,it is necessary to reduce the noise of the original positioning information,and get relatively accurate positioning information through filtering algorithm to classify acceleration and angular velocity.Firstly,the random noise is suppressed by Unscented Kalman Filter,and the inertial data is optimized,so that the attitude solution with high accuracy can be achieved to obtain the relatively accurate angle value;secondly,K-means clustering algorithm is used to cluster the acceleration to get the average value of acceleration,in order to replace theacceleration value in a period of time to reduce the accumulated error in the integration process,so as to calculate the displacement value;finally,the angle information and displacement information are used to judge the location information in indoor environment.At last,through the designed upper computer software to communicate with the indoor positioning mobile test hardware platform based on inertial navigation,and establish,store,and display data.The experimental result shows that the design of project above can achieve relatively better indoor positioning capability.The design and optimization of related algorithms have certain reference significance for application of independent indoor positioning.