Inertial Measurement System Based On STM32

In recent years, the strapdown inertial navigation technology has been widely used in the field of aircraft navigation because of its advantages such as strong autonomy, low-cost, low power consumption, light weight and small size. This paper expands theoretical study and practical exploration of this technology according to the inertial measurement needs of some spinning aircraft, completes the design of the strapdown inertial measurement system based on the STM32. The main work of this paper is as follows:Firstly, this paper summarizes the basic principle of strapdown inertial navigation system and three common algorithms of the inertial attitude decomposition, analyzes the device selection of the inertial measurement system and gives the design of strapdown inertial measurement system according to its own characteristics and the experimental environment requirements.Secondly, this paper designs a simulation system of inertial sensor module under the MATLAB/SIMULINK environment according to the mathematical model of gyroscope and accelerometer module, analyzes the inertial sensor error through simulation results. It acquires the mathematical model of flight vehicle movement parameters combining with the Eulerian method and designs a simulation system of inertial attitude decomposition. This paper demonstrates the feasibility of this system through simulation results and establishes theoretical basis for the design of strapdown inertial measurement system.Thirdly, according to low power consumption and miniaturization of the strapdown inertial navigation system, this paper implements the design of this system under the IAR Embedded Workbench and Altium Designer development environment based on STM32. This system selects STM32F407as the main controller and chooses MEMS inertial devices as the measurement unit.Finally, we operate this strapdown inertial measurement system. According to the experimental results we analyze the static error characteristics of inertial sensors and assess the impact on the inertial navigation system. Then we verify the feasibility of the system design.