A Design of Inertial Navigation System for Small Underwater Vehicle
DENG Bin
LIU Ming
Abstract：In order to meet the navigation and positioning of small underwater vehicles,this paper designs a small inertial nav-igation system based on small IMU,STM32 and SD card.The IMU is connected to the STM32 through the IIC bus and transmits the inertial navigation data.With the help of the interface of the SD card memory on the STM32 chip board and the transplanted FatFS file management system,the inertial navigation data storage of the SD card is realized.The inertial navigation data stored in the SD card can be easily and directly read by the PC through the SD card interface on the PC.After checking that the data format is cor-rect,the IMU data is imported into Matlab for pose calculation.This design satisfies the requirements of data acquisition and import to PC for small aircraft under long sailing time,and the pose update formula also satisfies the requirements of pose calculation.The experimental verification shows that the data storage module can store the generated inertial navigation data stably and reliably and import it to the PC,and the Matlab program can also restore the trajectory of the aircraft well.
Keywords：inertial navigation data storageSTM32SD cardIMU pose solution
Publication Date：2024-09-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 2603-2609 )