基于MEMS传感器室内导航的系统设计

发布时间：2018-07-24 19:01

【摘要】：人们对智能手持终端上的定位和导航功能的需求日益增大,然而,已有的导航系统不能满足人们的需求,常用的GPS、北斗等卫星定位与导航系统,在高楼密集的城区或室内无法接收卫星导航信号,不能获取准确的方位和航向信息,存在其局限性。本文设计的基于MEMS(微机电系统)传感器的室内导航系统,可以在室内完成导航定位功能,提供精准的导航信息,满足人们在商场、超市、机场大厅、停车场等室内环境的导航需求。首先,本文提出了室内导航系统的架构设计方案,分析了系统架构中各个功能模块之间的联系和作用,设计了一种在室内或城区GPS信号比较弱难以导航定位的解决方案,完善了智能手持终端的导航定位功能,协助GPS实现一体化导航系统。其次,对基于MEMS室内导航系统的导航原理和算法进行分析,分别研究了加速度计算位移,磁力计计算方向和气压传感器计算楼层高度的算法,为用MEMS传感器导航提供了依据。再次,基于Cortex M3-1700开发板设计了室内导航系统的硬件电路和软件程序,主要完成了传感器的数据采集,以及数据的SD卡保存、Wi-Fi无线传输和液晶屏幕显示等电路和程序。搭建硬件平台,对软件调试,得到实验结果。最后,完成了系统各个传感器的测量误差分析和导航算法的离线仿真。将采集的传感器数据发送到上位机中,对二次积分计算位移算法、数学公式计算位移算法、计步计算位移算法进行了对比仿真分析,其中二次积分计算位移算法结果较好,并用航位推算算法对二次积分计算位移算法进行了导航结果的分析。经多次实验结果表明：基于MEMS传感器实现室内导航系统的具有可行性,运用二次积分算法计算位移,运动载体的导航结果误差在5%以内。
[Abstract]:The demand for positioning and navigation functions on intelligent handheld terminals is increasing. However, the existing navigation systems can not meet the needs of people, such as GPS, Beidou and other satellite positioning and navigation systems. The satellite navigation signal can not be received and the accurate azimuth and course information can not be obtained in the urban area or indoor with dense buildings, which has its limitations. The indoor navigation system based on MEMS sensor is designed in this paper. It can complete the navigation and positioning function in the room, provide accurate navigation information, and satisfy people in the shopping mall, supermarket, airport hall. The navigation requirement of indoor environment such as parking lot. First of all, this paper puts forward the architecture design scheme of indoor navigation system, analyzes the relationship and function of each functional module in the system architecture, and designs a solution which is difficult to navigate and locate in indoor or urban GPS signal. Improved the intelligent handheld terminal navigation and positioning function, assist GPS to achieve integrated navigation system. Secondly, the navigation principle and algorithm based on MEMS indoor navigation system are analyzed, and the algorithms of calculating displacement, magnetometer direction and air pressure sensor to calculate floor height are studied respectively, which provides the basis for navigation with MEMS sensor. Thirdly, the hardware circuit and software program of the indoor navigation system are designed based on the Cortex M3-1700 development board, which mainly completes the data acquisition of the sensor, the data storage, Wi-Fi wireless transmission and LCD screen display of the SD card. Build the hardware platform, debug the software and get the experimental results. Finally, the measurement error analysis of each sensor and the off-line simulation of navigation algorithm are completed. The sensor data is sent to the upper computer, and the displacement algorithm of quadratic integral calculation, mathematical formula calculation displacement algorithm and step calculation displacement algorithm are compared and analyzed. The navigation results of the displacement algorithm of quadratic integral calculation are analyzed by using the algorithm of dead reckoning. The results of many experiments show that it is feasible to realize the indoor navigation system based on MEMS sensor. The displacement is calculated by using the quadratic integral algorithm, and the error of navigation result of the moving carrier is less than 5%.
【学位授予单位】：西安邮电大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP212;TN966

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