# Real-Time Data Acquisition System for Array MIMU Based on FPGA+ARM

## TL;DR

This paper presents a real-time data acquisition system using FPGA and ARM to improve the accuracy and stability of micro-inertial-measurement-unit (MIMU) gyroscopes for high-precision applications.

## Contribution

A novel real-time data acquisition system for array MIMU using FPGA+ARM architecture to enhance gyroscope accuracy and stability.

## Key findings

- The system improves MEMS gyroscope accuracy by a factor of 7.4 to 7.7.
- Pipeline position coordinates were measured with horizontal error <0.0774 m and elevation error <0.0351 m over 100 m.
- The array design effectively mitigates gyroscope random errors in real-world applications.

## Abstract

To address the issue of low accuracy and stability in the gyroscope components of the micro-inertial-measurement-unit (MIMU) core units, which limits their application in high-precision scenarios, this paper designs a real-time data acquisition system for array MIMU based on FPGA and ARM. This system establishes a complete data chain encompassing raw data acquisition, real-time processing, multi-source information fusion, data storage, and communication with a host computer. It has been successfully applied to a 100-m pipeline position coordinate measurement scenario. The paper begins by discussing the overall system design, including both hardware circuit and software code development. Attitude update algorithms and measurement accuracy evaluation metrics are also introduced. System functionality is validated through static tests and practical pipeline measurements. Experimental results demonstrate that the system improves the accuracy of a single micro-electro-mechanical system (MEMS) gyroscope by a factor of 7.4 to 7.7. It also enables precise calculation of the pipeline position coordinates over the 100 m distance, achieving a horizontal positioning error of less than 0.0774 m and an elevation positioning error of less than 0.0351 m. These results fully confirm the significant effectiveness of the array design in mitigating gyroscope random errors, providing a reliable technical solution for pipeline measurement.