The Vehicle Trajectory Measurement System Based On The Inertial Element

Along with social progress and technological development, people’s daily life has been inseparable from automotive applications. Traffic accidents occur frequently on the road with the increase of the vehicle. Therefore, it is important to research car track measurement system for driving safety. This paper, with the practical application background, studies the inertial measurement system applications in car driving, and proposes a design of the SINS vehicle trajectory measurement system. Strapdown Inertial Navigation System(SINS) can entirely complete the task of vehicle trajectory measurement on its own inertia element,without any outside information. It also has the advantage of imperceptibility, anti-jamming and so on. Hence the study of vehicle trajectory inertial measurement system have important implications for national automobile development strategy.This paper first studies the SINS technology, analyzes the basic principle of inertial navigation, and provides the algorithm equations an error equations of speed, posture and position. Then it uses the error equations to calculate the optimal estimation of Kalman filter error. In the physical part of this paper, it is a design of data collection system. It uses the STM32 as the core processor combining the peripheral circuit design. The peripheral circuit includes: the power circuit for providing power of the system using AMS1117-3.3; the JTAG downloading port for running programs in STM32; the MAX232 serial interface circuit realizing the transformation of power in PC and data collection module; the clock circuit and the reset circuit in running system. Emphatically, this paper adopts the gyroscope module with ADXRX150 for giving the angular speed data for the system, and the accelerometer module with MMA1260 D for accelerated speed data.And then, the data collection module collects the accelerated speed date and the angular speed data during the car driving and save them in PC. At last, with the SINS algorithm, the position information of the car can clearly be calculated. After analyzing the error of the trajectory, it implies that the error is in allowable range. So it is feasible for this paper’s design of the SINS vehicle trajectory measurement system.