Research On Positioning And Directional Device Based On MEMS Inertial Sensors

MEMS inertial sensors are characterized by low cost,small size,low power and fine shockproof capability.With the continual advancements of the element performance,the application domains of MEMS inertial sensors keep enlarging. However,the precision of MEMS inertial sensors is low.With some effective do-noise methods,the performance of MEMS gyro can be improved to satisfy higher precision application.And this is the key problem in research.First,This paper modeled the drift of gyro and design Kalman filter to improve the precision of MEMS gyro.Time series method and Allan variance were presented after some necessary Pretreatment of the measured data.Paper selected time series method to establish an ARMA model and simulate the application of the model before practical experiments.Based on the parameters of the ARMA model,a classic Kalman filter is established.The simulation result showed that the Kalman filter was effective.After that,the paper presents the overall hardware and software configuration of MEMS INS.A work scheme with double CPU,which consists of SPC061A and PC104,is put forward.And thesis refers to the circuit realization and details.In the software design,SPC061A use C program and CPLD together control each parts of system to work harmoniously.C program and assembler mixed together in SPC061A.PC104 is in charge of data processing and strap down algorithm.After debug the system,Positioning and Directional Device is realized,and it is provided with application value and foreground.