An Autonomous Navigation Method For Vehicle Based On Netometer And Accelerometer

With the continuous development of modern navigation technology,various types of navigation have been widely used in the aerospace,transportation vehicles,ship transportation and emerging fields such as drones and intelligent robots.At the same time,the technologies of microelectronics and inertial sensors are becoming more mature.The improvement in the accuracy of measuring elements has reached a great breakthrough and starts to focus on the development of miniaturization.Relying on the help of global positioning navigation,the urban transportation makes great achievement in guiding the vehicle driving and route planning.However,in some cities,the urban traffic sections are blocked or interfered due to satellite signals which may lead to inaccuracy of the navigation system or even break off it.Meanwhile,high-rise buildings can also reflect signals from global positioning,which further weaken the definition of signals.In the face of above problems,this paper explores an autonomous vehicle navigation system based on accelerometers and magnetometers to remedy the defect of navigational positioning when GPS signals are lost for a short period of time(minutes).The discussion of this paper is around the basic principle and application of inertial autonomous navigation.It suggests fixing the accelerometer and magnetometer on the carrier,and selects ADXL345 accelerometer and HMC5883L magnetometer as the experimental device to measure vehicles.In the strap-down inertial navigation,the quaternion method is selected as the update algorithm of the attitude angle from several traditional attitude updating algorithms.The attitude angle is obtained by geometrically solving the observation values of magnetometers and accelerometers,and through the Kalman filtering performs an optimal estimation of the attitude angle obtained by the gyroscope.The obtained data from static and dynamic experiments will be analyzed through the Matlab and compared with the data collected by the Global Positioning Navigation Positioning Information System to further verify the reliability of the autonomous navigation system.As a complement to the Global Positioning System,the autonomous navigation system provides missing signal compensation,thus improving the overall accuracy of vehicle navigation.