【摘要】：人們對智能手持終端上的定位和導(dǎo)航功能的需求日益增大,然而,已有的導(dǎo)航系統(tǒng)不能滿足人們的需求,常用的GPS、北斗等衛(wèi)星定位與導(dǎo)航系統(tǒng),在高樓密集的城區(qū)或室內(nèi)無法接收衛(wèi)星導(dǎo)航信號,不能獲取準(zhǔn)確的方位和航向信息,存在其局限性。本文設(shè)計的基于MEMS(微機(jī)電系統(tǒng))傳感器的室內(nèi)導(dǎo)航系統(tǒng),可以在室內(nèi)完成導(dǎo)航定位功能,提供精準(zhǔn)的導(dǎo)航信息,滿足人們在商場、超市、機(jī)場大廳、停車場等室內(nèi)環(huán)境的導(dǎo)航需求。 首先,本文提出了室內(nèi)導(dǎo)航系統(tǒng)的架構(gòu)設(shè)計方案,分析了系統(tǒng)架構(gòu)中各個功能模塊之間的聯(lián)系和作用,設(shè)計了一種在室內(nèi)或城區(qū)GPS信號比較弱難以導(dǎo)航定位的解決方案,完善了智能手持終端的導(dǎo)航定位功能,協(xié)助GPS實現(xiàn)一體化導(dǎo)航系統(tǒng)。 其次,對基于MEMS室內(nèi)導(dǎo)航系統(tǒng)的導(dǎo)航原理和算法進(jìn)行分析,分別研究了加速度計算位移,磁力計計算方向和氣壓傳感器計算樓層高度的算法,為用MEMS傳感器導(dǎo)航提供了依據(jù)。 再次,基于Cortex M3-1700開發(fā)板設(shè)計了室內(nèi)導(dǎo)航系統(tǒng)的硬件電路和軟件程序,主要完成了傳感器的數(shù)據(jù)采集,以及數(shù)據(jù)的SD卡保存、Wi-Fi無線傳輸和液晶屏幕顯示等電路和程序。搭建硬件平臺,對軟件調(diào)試,得到實驗結(jié)果。 最后,完成了系統(tǒng)各個傳感器的測量誤差分析和導(dǎo)航算法的離線仿真。將采集的傳感器數(shù)據(jù)發(fā)送到上位機(jī)中,對二次積分計算位移算法、數(shù)學(xué)公式計算位移算法、計步計算位移算法進(jìn)行了對比仿真分析,其中二次積分計算位移算法結(jié)果較好,并用航位推算算法對二次積分計算位移算法進(jìn)行了導(dǎo)航結(jié)果的分析。經(jīng)多次實驗結(jié)果表明：基于MEMS傳感器實現(xiàn)室內(nèi)導(dǎo)航系統(tǒng)的具有可行性,運用二次積分算法計算位移,運動載體的導(dǎo)航結(jié)果誤差在5%以內(nèi)。
[Abstract]:The demand for positioning and navigation functions on intelligent handheld terminals is increasing. However, the existing navigation systems can not meet the needs of people, such as GPS, Beidou and other satellite positioning and navigation systems. The satellite navigation signal can not be received and the accurate azimuth and course information can not be obtained in the urban area or indoor with dense buildings, which has its limitations. The indoor navigation system based on MEMS sensor is designed in this paper. It can complete the navigation and positioning function in the room, provide accurate navigation information, and satisfy people in the shopping mall, supermarket, airport hall. The navigation requirement of indoor environment such as parking lot. First of all, this paper puts forward the architecture design scheme of indoor navigation system, analyzes the relationship and function of each functional module in the system architecture, and designs a solution which is difficult to navigate and locate in indoor or urban GPS signal. Improved the intelligent handheld terminal navigation and positioning function, assist GPS to achieve integrated navigation system. Secondly, the navigation principle and algorithm based on MEMS indoor navigation system are analyzed, and the algorithms of calculating displacement, magnetometer direction and air pressure sensor to calculate floor height are studied respectively, which provides the basis for navigation with MEMS sensor. Thirdly, the hardware circuit and software program of the indoor navigation system are designed based on the Cortex M3-1700 development board, which mainly completes the data acquisition of the sensor, the data storage, Wi-Fi wireless transmission and LCD screen display of the SD card. Build the hardware platform, debug the software and get the experimental results. Finally, the measurement error analysis of each sensor and the off-line simulation of navigation algorithm are completed. The sensor data is sent to the upper computer, and the displacement algorithm of quadratic integral calculation, mathematical formula calculation displacement algorithm and step calculation displacement algorithm are compared and analyzed. The navigation results of the displacement algorithm of quadratic integral calculation are analyzed by using the algorithm of dead reckoning. The results of many experiments show that it is feasible to realize the indoor navigation system based on MEMS sensor. The displacement is calculated by using the quadratic integral algorithm, and the error of navigation result of the moving carrier is less than 5%.
【學(xué)位授予單位】：西安郵電大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP212;TN966

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本文編號：2142337