Research And Implementation Of Tracking System In GPS-dark Areas Based On Inertial Sensors

With the continuous development of science and technology, intelligent traffic has become thetendency. Precise positioning is one important feature of the intelligent traffic system. Currently, themain positioning method of the vehicle relies on GPS global positioning system. However, GPSsignals will be very weak when the car travel in the tunnels, viaducts or the basement. As for thisreason the research of the inertial autonomous navigation system is essential and has become a hottopic nowadays. In order to solve the inaccurate positioning problem when in GPS-dark areas, anautonomous navigation tracing system based on the combining data of heading angle and milemetersensors is designed in this thesis.In this system, MPU6050is the inertial navigation platform of the vehicle which combined theacceleration and gyro sensors. The acceleration sensors currently used to identify the car is movingforward or backward; gyroscope sensors are used to measure the car’s heading angle; photoelectricsensor is used to measure rapid response car driving distance. After the sensors’s data was collectedand fusion in unit time, the data will be transferred to the computer. The computer will use theExtended Kalman filtering technique to correct the original measure data and draw trajectories.After the completion of the hardware and software design, tens of actual test were used to verify thereliability and stability of the system. The measurement error of the system is between0.25m~0.35m when test distance within20meters. Compared to the wireless sensors network withnumerous nodes arranged coordinaties, the system is low cost, high precision and suitable forpromotion for no requirement of the using environment.As can be seen from the actual test results of this system, we can continuously give the positionof the car in GPS dark areas when using the inertial sensors and the odometer. As the ongoing of theresearch on the car or the robot indoor positioning, this paper can provide a good reference.