Design And Implementation Of MEMS-dead Reckoning System

With the appear of low price inertial sensor of MEMS, modern vehicle navigation system inclines to low cost, mini and civil-rization. The traditional inertial navigation system has error following time accumulation, and the GPS can not provide navigation information when be kept out, so the combination of tradition DR system and the GPS has got people's attention. According to the problem above, this article design a dead reckoning system based on MEMS.Through the research and improvement of the Dead Reckoning we get the information that we need and selects a variety of sensors accord to these messages, including MEMS IMU, electronic compass and GPS. Because the MEMS's accuracy is limited and exists drifting, so we design the odometer formed by photoelectric to compensate the drift of MEMS gyroscope, assembling by the fact that modularized various sensor design has taken form calculates system hardware platform. Building a mathematical model specifically for every sensor's error, and designing calibration test for the IMU, odometer and electronic compass based on the least square method. By using the FPGA-based embedded system, this article realizes a deep integration of variety sensors. The design include IP core based on Quartus II 7.0, combined with the hardware description language Verilog HDL implementation of the GPS, electronic compass serial communication instrument pulse and odometer function block module design. Finish the functional simulation by Modelsim6.1g. Completed the entire design of embedded system Dead Reckoning based on the Nios II7.0 platform.