Development Of Low Cost Miniative IMU Based On MEMS And DSP Technique

At present, Inertial Navigation Systems(INS) are used more and more widely. In certain high-tech application(e.g,Unmanned Aerial Vehicle),the INS must be small,compact and low-cost enough.This requests the Inertial Measurement Unit(IMU) must accord with above characteristic first. In order to realize this kind of IMU, the MEMS inertial sensitivity components, the strapdown structure and the Digital Signal Processing technique based on ARM processor have been used in this paper.The main work in this paper includes:1) The theory of Strapdown Inertial Navigation System and the operating principle of MEMS inertial sensitivity components have been studied.And the study of using MEMS sensitivity components and strapdown structure to build the IMU has been done. Then, the designing of a system scheme for low-cost, miniature IMU by using MEMS inertial sensitivity components and strapdown constructure has been finished.2) Having developed one axis analog IMU for experiment.Then the experi-ment of AGV carrying the IMU proving that the system scheme above meets the use of the object just like AGV.3) One more smaller and better digital IMU has been developed, in order to modify the weakness of the analog IMU.4) Having programed the bottom layer program, and realized the samplying of inertial sensitivity components.Have finished the FIR filter program and cubic spline program, and realized the noise reduction and sampling refining. Finished the calculation program of gesture angles, and measured the gesture angles accurately.The results of the experiments show that the IMU's performance is good. And by using the DSP technique, the MEMS inertial sensitivity components'performance is improved.