基于MEMS传感器的室内外多源融合导航系统设计

Design of indoor and outdoor multi-source integrated navigation system based on MEMS sensor

摘要:

为纠正磁力计的过度偏转行为，使得导航坐标结果更贴合理想预设坐标值，设计基于MEMS传感器的室内外多源融合导航系统。整合多源外接模块电路输出的电量信号，将其分别反馈至MEMS磁力计与微处理器导航元件之中，再根据地图空间定义模块中导航信息数据的传输行为，确定融合信息单元的剩余存储能力，实现多源融合导航系统的硬件结构设计。在此基础上，定义MEMS传感器的实时坐标，通过计算位姿角数值的方式，处理导航点与传感器信息之间的多源融合关系，完成基于MEMS传感器的坐标转换。根据已知的路径节点平移变换原则，得到节点坐标的旋转与缩放结果，完成对导航路径的可视化处理，再结合相关硬件设备结构，实现基于MEMS传感器的室内外多源融合导航系统设计。实验结果显示，与基于降维对偶四元数的导航系统相比，在MEMS传感器作用下，实测角与理想角之间的最大差值只能达到3.7°，能够使得真实导航坐标结果更加贴合理想预设坐标值，符合精准导航的实际应用需求。

Abstract:

In order to correct the excessive deflection behavior of magnetometer and make the navigation coordinate more fit the ideal preset coordinate value, an indoor and outdoor integrated navigation system based on MEMS sensor was designed. The electric signal output by the circuit of multi-source external module is integrated and fed back to MEMS magnetometer and navigation element of microprocessor respectively. Then, the transmission behavior of navigation information data in the module is defined according to the map space, and the remaining storage capacity of the fusion information unit is determined, and the hardware structure of the multi-source fusion navigation system is designed. On this basis, the real-time coordinate of MEMS sensor is defined, and the multi-source fusion relationship between navigation point and sensor information is processed by calculating the value of position and pose angle, and the coordinate transformation based on MEMS sensor is completed. According to the known principle of path node translation transformation, the rotation and scaling results of node coordinates are obtained, and the visual processing of navigation path is completed. Then, combined with the structure of related hardware equipment, the design of indoor and outdoor multi-source integrated navigation system based on MEMS sensor is realized. Experimental results show that compared with the navigation system based on dimensionality reduction dual quaternion, the maximum difference between the measured Angle and the ideal Angle can only reach 3.7° under the action of MEMS sensor, which can make the real navigation coordinate results more fit the ideal preset coordinate value, and meet the practical application requirements of accurate navigation.