Design And Analysis Of Trajectory Tracking System Based On Inertial Devices

Trajectory tracking system has shown its importance and effectiveness in many aspects in recent years,especially in the field of intelligent equipments' research and development.Nowadays,many trajectory tracking methods based on image processing,optics,electromagnetics,acoustics or other principles often have many limitations or obvious shortcomings in some application conditions.Aimed at this problem,this paper designed a human local motion trajectory tracking system by using MEMS inertia devices.Firstly,according to the law of human motion and the principle of device selection,this paper selected accelerometers and gyroscopes with suitable characteristics as the main acquisition devices of the system.After considering the resources on chip,sampling frequency and chip size,STM32 is selected as the main control chip of the system.In the choice of transmission mode,this paper compared various wireless transmission modes and finally chosed Bluetooth as the wireless communication mode of this system.Next,the hardware circuit of the system was designed according to the peripheral circuits required by each component and the condition of reducing noise as much as possible.Finally the software was designed according to the overall control logic of the system.In order to realize attitude calculation,this paper selected quaternion method to avoid the Gimbal Lock.In the design of attitude/position algorithm,this paper mainly expounds Mahony complementary filtering algorithm and Madgwick gradient descent method,then chooses the latter in the system.Aiming at the limitation of common solution of pitch angle,a new method of full-angle calculation is proposed,which extends the angle and realizes full-angle attitude calculation.In the acquisition of position information,the acquired data is twice filtered.Then the influence of gravity acceleration component is eliminated by using the rotation matrix between two coordinate systems.And proper integral method is used for the system.Finally the method of acceleration integral compensation in this paper is proposed based on the idea of Zero-velocity Compensation and polynomial compensation.Finally the experiments for gyroscope and accelerometer are conducted under the existing laboratory conditions.The results verify the feasibility of the design of the system and the effectiveness of the corresponding optimization and the algorithm.