Research On Accurate Positioning Of Spatial Coordinates Based On MEMS Attitude Sensor

With the continuous development of modernization and automation,the demand for low-cost,high-precision,modular,and highly integrated inertial navigation and positioning systems in civilian applications is growing.Along with the continuous development of semiconductor and sensor technology,MEMS sensor devices have emerged,enabling accelerometers and gyroscopes to realize the advantages of small size,low power consumption,and high integration.Therefore,in this paper,we investigate the precise positioning system of spatial coordinates based on MEMS attitude sensors and design and build the method according to the research content to realize the real-time attitude,velocity,and position measurement of spatially moving objects under low-speed motion conditions.The main work of this paper is as follows:(1)The output error of the MEMS attitude sensor is analyzed,and a mathematical error output model is established.Meanwhile,the random noise of the accelerometer and gyroscope is modeled and simulated using the white noise model,and the static experiment of the sensor is set up to perform Arlen’s variance analysis on its static data,from which various random noises of the MEMS gyroscope are separated,and the corresponding filtering compensation process is performed.(2)The attitude,velocity,and position update algorithm under low-speed motion conditions are studied.Based on the traditional equivalent rotation vector multisubsample attitude update algorithm,a high-precision attitude multi-subsample algorithm containing the higher-order terms of the equivalent rotation vector micro decomposition is used,and mathematical derivations and modeling simulations are given,and the correctness of the high-precision algorithm is verified through theoretical analysis and simulation studies.The influence of the delta-rocking error term in the velocity and position update algorithm on the solution accuracy under a vibration environment is also studied,and the mathematical expression of the delta-rocking error multi-subsample compensation algorithm is derived.(3)The software and hardware platform of the spatial positioning system based on the MEMS attitude sensor is built independently.WIFI communication technology is used to solve the data transmission problem between hardware and software,and the working block diagram of the specific data acquisition and transmission module is drawn.The data processing module and the attitude,velocity,and position-solving module in the software platform are introduced,the implementation scheme is given,and each module in the software platform is simulated to verify the feasibility and correctness of the scheme design.(4)The MEMS attitude sensor spatial coordinate precision positioning system is experimentally tested,and the corresponding static and dynamic verification experiments are designed to verify the correctness and accuracy of each sub-functional module.The experiments show that the MEMS attitude sensor-based navigation and positioning system developed in this paper can achieve real-time attitude,velocity,and position monitoring of moving objects,which verifies the feasibility and effectiveness of the whole system construction..