论文总字数：21952字

摘 要

当今社会早已进入了一个信息化、数字化、网络化的时代，各式各样的导航系统随处可见，而鞋式个人惯性导航系统是固定在行人鞋子上的“导航鞋”，主要适用于警察、消防、急救、士兵等危险性高的作业的安全人员，提供更高水平的安全保障。另外，在地下探查和丛林探查等GPS信号微弱或欠缺的环境下，此系统还可以发挥自主导航的功能。因此，设计一种高精度的组合导航的鞋式个人惯性导航系统具有重要意义。

本课题研究的鞋式个人惯性导航系统以STM32单片机为控制核心，通过复合六轴传感器芯片MPU6050来测量角速度及加速度以获得载体的姿态信息，利用三轴磁力计QMC5883测量载体的航向角，在气压计BMP280测量所在位置的大气压的基础下，通过BD/GPS模块来获得载体的位置信息，以准确地显示载体所处的位置信息，实现了鞋式个人惯性导航系统的数据实时采集和GPS定位等功能。

本课题设计了鞋式个人惯性导航系统的电路原理图，完成了PCB制板。通过软件和硬件的联合调试，鞋式个人惯性导航系统被证实能实现导航定位的功能。本文最后提出了此设计的不足之处和对今后的要求。

关键词：鞋式个人惯性导航 STM32 GPS 三轴磁力计 惯性测量单元 硬件设计

Shoe type personal inertial navigation system

Abstract

Today's society is already in the era of information, digitization, and networking, and various navigation systems can be found everywhere. The shoe-type personal inertia navigation system is a "guided shoe" fixed to a pedestrian's shoe, which is mainly applied to safety people in high-risk operations such as police, fire, emergency, and soldiers, providing a higher level of security. In environments where GPS signals such as underground exploration and jungle exploration are weak or insufficient, autonomous navigation can also be demonstrated. Therefore, it is important to design a shoe-type individual inertia navigation system of high-precision combination navigation.

The shoe-type individual inertial navigation system studied in this study is a core of control of the STM32 one-chip microcomputer, and the 6-axis sensor chip MPU6050 is combined to measure angular velocity and acceleration to obtain carrier posture information, and a carrier carrier with a 3-axis magnetometer QMC5883 After measuring the heading angle of the barometer BMP280, after measuring the atmospheric pressure of the position in the barometer BMP280, by acquiring the position information of the carrier in the BD/GPS module, accurately display the position information of the carrier, the shoe-type personal navigation inertia system data real-time collection and GPS positioning and other functions such as.

This subject designs the circuit schematic diagram of the shoe-type personal inertial navigation system and completes the PCB board. Through the joint debugging of software and hardware, the shoe-type personal inertial navigation system has been proved to be able to realize the function of navigation and positioning. In the end, this paper puts forward the shortcomings of this design and the requirements for the future.

Key words: Shoe type personal inertial navigation; STM32; GPS; Triaxial magnetic;Inertial measurement unit; Hardware design

目 录

摘 要 I

Abstract II

第一章 绪论 1

1.1 研究背景及意义 1

1.2 国内外研究现状 2

1.2.1 国内研究现状 2

1.2.2 国外研究现状 4

1.3 本文研究内容和章节安排 4

第二章 系统整体方案 5

2.1 需求分析 5

2.1.1 设计思路 5

2.1.2 IMU分析 5

2.2 系统方案设计 6

第三章 系统硬件设计 8

3.1 系统功能组成 8

3.2 电源电路模块 9

3.3 主控单元模块 11

3.4 数据采集模块 14

3.4.1 六轴传感器 14

3.4.2 磁力计 15

3.4.3 气压计 16

3.4.4 GPS\BD模块 17

3.5 数据显示模块 18

3.5.1 屏幕显示 18

3.5.2 Wi-Fi模块 19

3.6 其他模块 20

3.6.1 SD卡 21

3.6.2 EEPROM 21

第四章 系统软件设计 23

4.1 软件总体设计 23

4.1.1 开发平台 23

4.1.2 程序主流程图 23

4.2 MPU6050程序设计 24

4.3 QMC5883程序设计 25

4.4 BMP280程序设计 25

4.5 ATGM336导航模块程序设计 26

4.5.1 数据接收 26

4.5.2 数据解析 27

4.6 OLED显示模块 29

第五章 系统测试 30

5.1 硬件结构 30

5.1.1 前期实验系统搭建 30

5.1.2 后期PCB电路系统 30

5.2 传感器数据 31

5.2.1 磁力计 31

5.2.2 加速计 32

5.2.3 陀螺仪 32

5.3 GPS\BD数据测试 33

结语 34

参考文献 35

致谢 37

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