title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¼Ð¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° CH32V307 Ð¸ ÐÐ­ÐÐ¡ Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½ÑÑ Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of inertial navigation system based on microcontroller CH32V307 and MEMS inertial sensors
Creators: name: ÐÑÐ·Ð½ÐµÑÐ¾Ð², ÐÐ¾Ð½ÑÑÐ°Ð½ÑÐ¸Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð°Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð°
Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÐµ ÑÐ¸ÑÑÐµÐ¼Ñ
ÐÐ­ÐÐ¡
Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½ÑÐ¹ Ð¸Ð·Ð¼ÐµÑÐ¸ÑÐµÐ»ÑÐ½ÑÐ¹ Ð¼Ð¾Ð´ÑÐ»Ñ
Ð°ÐºÑÐµÐ»ÐµÑÐ¾Ð¼ÐµÑÑ
Ð³Ð¸ÑÐ¾ÑÐºÐ¾Ð¿
Ð¼Ð°Ð³Ð½ÐµÑÐ¾Ð¼ÐµÑÑ
Ð¼Ð¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑ
CH32V307
ÑÐ³Ð»Ñ Ð­Ð¹Ð»ÐµÑÐ°
inertial navigation system
navigation systems
MEMS
inertial measurement module
accelerometer
gyroscope
magnetometer
microcontroller
Euler angles

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ (ÐÐÐ¡), Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÑÑÐµÐ¹ Ð¼Ð¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑ CH32V307 Ð¸ Ð¼Ð¸ÐºÑÐ¾ÑÐ»ÐµÐºÑÑÐ¾Ð¼ÐµÑÐ°Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ ÑÐ¸ÑÑÐµÐ¼Ñ (ÐÐ­ÐÐ¡) Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½ÑÑ Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð². Ð ÑÐ¾Ð´Ðµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð¸ Ð¸Ð·ÑÑÐµÐ½Ñ ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½ÑÑ ÐÐÐ¡, Ð²ÐºÐ»ÑÑÐ°Ñ ÑÑÑÑÐºÑÑÑÐ½ÑÐµ ÑÑÐµÐ¼Ñ, Ð¼Ð¸ÐºÑÐ¾ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑ WCH CH32V307 Ð¸ ÐµÐ³Ð¾ Ð¿ÐµÑÐ¸ÑÐµÑÐ¸Ð¹Ð½ÑÐµ ÑÑÑÑÐ¾Ð¹ÑÑÐ²Ð°. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð¼Ð¾Ð´ÑÐ»Ð¸ Ð¸Ð½ÐµÑÑÐ¸Ð°Ð»ÑÐ½ÑÑ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ð¹ Ð¸ Ð¼Ð°Ð³Ð½ÐµÑÐ¾Ð¼ÐµÑÑÑ, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¿ÑÐ¾ÑÐµÑÑ ÑÐ¾Ð·Ð´Ð°Ð½Ð¸Ñ Ð¾Ð¿ÑÑÐ½Ð¾Ð³Ð¾ Ð¾Ð±ÑÐ°Ð·ÑÐ°. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ñ Ð¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ñ Ð¼ÐµÑÐ¾Ð´Ñ Ð¸Ð·Ð¼ÐµÑÐµÐ½Ð¸Ñ Ð¿ÑÐ¾ÑÑÑÐ°Ð½ÑÑÐ²ÐµÐ½Ð½ÑÑ ÑÐ³Ð»Ð¾Ð² Ð¾ÑÐ¸ÐµÐ½ÑÐ°ÑÐ¸Ð¸ Ð¾Ð±ÑÐµÐºÑÐ°, Ð²ÐºÐ»ÑÑÐ°Ñ ÑÐ¸ÑÑÐµÐ¼Ñ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ, ÑÐ³Ð»Ñ Ð­Ð¹Ð»ÐµÑÐ° Ð¸ Ð¾Ð±ÑÐµÐ´Ð¸Ð½ÐµÐ½Ð¸Ðµ Ð´Ð°Ð½Ð½ÑÑ Ð¾Ñ Ð³Ð¸ÑÐ¾ÑÐºÐ¾Ð¿Ð¾Ð² Ð¸ Ð°ÐºÑÐµÐ»ÐµÑÐ¾Ð¼ÐµÑÑÐ¾Ð². ÐÐ¿Ð¸ÑÐ°Ð½Ñ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð´Ð»Ñ Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ñ ÑÐ³Ð»Ð¾Ð² Ð­Ð¹Ð»ÐµÑÐ° Ð¸ Ð¿ÑÐ¸ÑÐ°ÑÐµÐ½Ð¸Ñ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð¿Ð¾ÐºÐ°Ð·Ð°Ð½Ð¸Ð¹ ÐÐ­ÐÐ¡ Ð´Ð°ÑÑÐ¸ÐºÐ¾Ð². ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° ÐºÐ°Ð»Ð¸Ð±ÑÐ¾Ð²ÐºÐ° Ð°ÐºÑÐµÐ»ÐµÑÐ¾Ð¼ÐµÑÑÐ¾Ð², Ð³Ð¸ÑÐ¾ÑÐºÐ¾Ð¿Ð¾Ð² Ð¸ Ð¼Ð°Ð³Ð½ÐµÑÐ¾Ð¼ÐµÑÑÐ¾Ð², ÑÑÐ¾ Ð¿Ð¾Ð·Ð²Ð¾Ð»Ð¸Ð»Ð¾ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°ÑÑ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ñ Ð´Ð»Ñ Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ñ ÑÐ³Ð»Ð¾Ð² Ð­Ð¹Ð»ÐµÑÐ° Ð¸ Ð¿ÑÐ¸ÑÐ°ÑÐµÐ½Ð¸Ñ ÐºÐ¾Ð¾ÑÐ´Ð¸Ð½Ð°Ñ. ÐÑÐµÐ´ÑÑÐ°Ð²Ð»ÐµÐ½Ñ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÑÐ¸Ñ Ð²ÑÑÐ¸ÑÐ»ÐµÐ½Ð¸Ð¹ Ð¸ Ð¸Ñ Ð°Ð½Ð°Ð»Ð¸Ð·. ÐÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¸Ðµ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ ÑÐ°Ð±Ð¾ÑÑ Ð¼Ð¾Ð³ÑÑ Ð±ÑÑÑ Ð¿Ð¾Ð»ÐµÐ·Ð½Ñ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÑÐ¸ÐºÐ°Ð¼ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ ÑÐ¸ÑÑÐµÐ¼.
description: This work is devoted to the development and research of inertial navigation system (INS) using microcontroller CH32V307 and microelectromechanical systems (MEMS) inertial sensors. The components of the INS including structural schematics, the WCH CH32V307 microcontroller and its peripherals were studied. Inertial measurement modules and magnetometers were reviewed, as well as the prototype process. Methods for measuring spatial angles of object orientation, including coordinate systems, Euler angles, and combining data from gyroscopes and accelerometers are developed and investigated. Algorithms for calculating Euler angles and coordinate increments from MEMS sensor readings are described. Accelerometers, gyroscopes, and magnetometers were calibrated, which allowed us to develop algorithms for calculating Euler angles and coordinate increments. The results of these calculations and their analyses are presented. Practical results of the work can be useful for developers of navigation systems.