Development of strapdown inertial navigation system with MEMS sensors, barometric altimeter and ultrasonic range meter

Abstract

The results of strapdown inertial navigation system (SINS) tests with 9 degrees of freedom MEMS sensor MPU-9150 (triaxial accelerometer, gyroscope and magnetometer), pressure sensor LPS331 and ultrasonic range meter HC-SR04, implemented on the FPGA Altera Cyclone-II evaluation board DE1 is considered. SINS measures the spatial coordinates and altitude relative to the starting point, the orientation angles and distances to obstacles along the way. It is shown that the relative error of the spatial coordinates estimation does not exceed 1.1% in interval of some minutes.