The English Proceedings of the College of Instru tion&Electrical Engineering.n University,in the Second Half of 013 Figure 2 LSM303DLHC schem Figure 3 MPU3050 schematic 2.3 Data storage and display module design The master micro-controller which is responsible SD CAR for PDR communicates with the three-dimensional CDD CM M國 sensor module through the serial port,they are set to VCC3.3 the same baud rate.Since the built-in RAM capacity SPII SCK of STM32F103RBT6 is only 20KB. and dead reckoning data used in the process is much larger than 11 the amount of memory capacity.the FAT32 file system is used to help the host micro-controller store data into an SD card.the micro-controller write or read data via SPI interface,the data storage module schematic is sd card shown in Figure 4. Figure 5 Display module schematic The display module uses TFTLCD ILI9320 produced by the llitek,the operating voltage is 3.3V,it 3 SOFTWARE DESIGN has a resolution of 320x240,16-bit bidirectional data line,the micro-controller via the WR pin to write the 3.1 Dead reckoning principle TFTLCD read ou dat through the The motion of pedestrian can be considered as RD pin,the schematic of the display module is shown two-dimensional motion in general4,connectior in Figure 5. between the two foothold in a step cycle can be considered as a straight line.When the data sampling time is a step cycle,the information of pedestrian at the end of the current ycle can be calculated by the length and heading angle information sampled at end of the last sample cvcle.Showed in two-dimensional xy coordinate plane.let us suppose that the orientation of the pedestrian in initial time is (),the 33 orientation of an arbitrary time is (x yt),within each sampling period walker steps is S,heading angle 3i T CLK TFT LCD is A.then a step in accordance with the sampling period is T.According to the principle of recursive,the orientation of pedestrian at any time t may be ssed as: 期 The English Proceedings of the College of Instrumentation & Electrical Engineering, Jilin University, in the Second Half of 2013 8 Figure 2 LSM303DLHC schematic Figure 3 MPU3050 schematic 2.3 Data storage and display module design The master micro-controller which is responsible for PDR communicates with the three-dimensional sensor module through the serial port, they are set to the same baud rate. Since the built-in RAM capacity of STM32F103RBT6 is only 20KB, and dead reckoning data used in the process is much larger than the amount of memory capacity, the FAT32 file system is used to help the host micro-controller store data into an SD card, the micro-controller write or read data via SPI interface, the data storage module schematic is shown in Figure 4. The display module uses TFTLCD ILI9320 produced by the Ilitek,the operating voltage is 3.3V, it has a resolution of 320 × 240, 16-bit bidirectional data line, the micro-controller via the WR pin to write the data into the TFTLCD and read out data through the RD pin, the schematic of the display module is shown in Figure 5. Figure 4 Data storage module schematic Figure 5 Display module schematic 3 SOFTWARE DESIGN 3.1 Dead reckoning principle The motion of pedestrian can be considered as two-dimensional motion in general[4], connection between the two foothold in a step cycle can be considered as a straight line.When the data sampling time is a step cycle, the information of pedestrian at the end of the current cycle can be calculated by the orientation information with the sampling period stride length and heading angle information sampled at end of the last sample cycle.Showed in two-dimensional xy coordinate plane, let us suppose that the orientation of the pedestrian in initial time is (x0 , y0), the orientation of an arbitrary time is (xt , yt), within each sampling period walker steps is S, heading angle is A, then a step in accordance with the sampling period is T. According to the principle of recursive, the orientation of pedestrian at any time t may be expressed as: