基于微型惯性测量组合的平面定位技术研究

发布时间：2018-02-20 22:17

本文关键词： MIMU 平面定位加速度传感器数字滤波　出处：《沈阳理工大学》2012年硕士论文　论文类型：学位论文

【摘要】：随着我国经济和社会的发展，平面定位系统在多种领域的运用日趋广泛。传统的平面定位系统由于其体积较大、重量较重的原因，一直成为限制其发展的症结。近年来，，基于微型惯性测量组合（MIMU）的平面定位技术为传统平面定位系统存在的症结提供了很好的解决办法。微型惯性测量组合具有定位精度高、定位速度快以及体积小、重量轻、价格便宜等众多优势，在多领域受到了高度的关注。本文首先介绍了微型惯性测量组合平面定位技术研究的目的、意义和国内外研究现状以及发展情况。接着对微型惯性器件的动力学原理进行了分析说明；给出三维位置的计算方法。然后对微型惯性测量组合的平面定位硬件系统的基本组成进行了说明；并设计实现了以加速度计ADXL330和处理芯片89C51的单片机为核心的微型惯性测量组合系统；在数据处理方面，采用卡尔曼滤波器进行滤波处理及编程实现，同时考虑系统的数据输出的同步性采取相应的措施进行处理。并实现了惯性测量系统的下位机和上位机程序设计。最后搭建微型惯性测量组合的平面定位平台并进行一系列的实验可得出如下结论：基于加速度计ADXL330的微型惯性测量组合平面定位系统能够有效的提高平面定位系统的精度。
[Abstract]:With the development of economy and society in China, plane positioning system has been widely used in many fields. Traditional plane positioning system has been the crux of its development in recent years because of its large volume and heavy weight. The plane positioning technology based on the micro inertial measurement combination (MIMUU) provides a good solution to the sticking point of the traditional plane positioning system. The micro inertial measurement combination has the advantages of high positioning accuracy, fast positioning speed, small size and light weight. Low prices and many other advantages, in many areas have been highly concerned about. In this paper, the purpose, significance, research status and development of micro inertial measurement integrated plane positioning technology are introduced. Then the dynamic principle of micro inertial device is analyzed and the calculation method of three-dimensional position is given. Then the basic composition of plane positioning hardware system of micro inertial measurement combination is explained, and the micro inertial measurement combination system with accelerometer ADXL330 and single chip processor 89C51 as the core is designed and realized. The Kalman filter is used to filter and program, and the corresponding measures are taken to deal with the synchronism of the data output of the system, and the program design of the lower computer and the upper computer of the inertial measurement system is realized. Finally, the plane positioning platform of the micro inertial measurement combination is built and a series of experiments are carried out. The conclusions are as follows: the micro inertial measurement integrated plane positioning system based on accelerometer ADXL330 can effectively improve the accuracy of the plane positioning system.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TP274;TP368.12

【参考文献】