Design and experimental study of MEMS personal navigation system

Abstract

Micro-Electro-Mechanical System(MEMS) personal inertial navigation system is designed. Based on the traditional inertial navigation algorithm, the system introduces zero speed correction technology and combines the characteristics of personal walking. First, the four elements method is used to construct the observation equation，and the time sampling increment method of the Bi card algorithm is used to solve the equation. Then the attitude of the inertial navigation device is obtained by extended Kalman filter algorithm. Zero speed detection algorithm and Kalman decomposition algorithm based on UD decomposition are used to correct velocity and position errors. Finally, the effectiveness of the algorithm is verified by indoor walking test, which lays the foundation for further research on improving indoor navigation accuracy.

Keywords

• personal navigation
• mems
• extended kalman filter
• zero-velocity detection and correction