Research On The Attitude Measurement Technology Of MIMU/Geomanetism Integration Under High Dynamic Eviroment

The high accuracy of weapons is needed in the modern wars.The short timing, high accuracy, high dynamic and high overload resistance technology for attitude control is urgent needed to comply with the guidance and intelligence trend of the conventional ammunition. In the paper we put forward a solid-state strapdown attitude detection technology which is based on the MIMU/magnetic integration, basically designed the attitude control scheme based on the pulse power, analyzed the technical features, explained the work process of system in the stage of equiping, free flight and flight control and also confirmed the main parts. We chiefly studied the test of micro-inertial measurement unit, error identification compensation and the related methods and theories of attitude algorithm, and also studied the dynamic calibration method with magnetic signal. The content is the key technology of micro-inertial unit in the application process, the result can provide a reference for the research of low-cost, high-accuracy smart ammuniton.The paper studied the selected micro inertial measurement unit through experiment,did the performance test of bias, bias stability, bias repeatability, scale factor and nonlinear, created the mathematical model by the theory of statistics, to gain the performance parameter through data processing. We did research on the related error identification and compensation in connect with the main error of gyroscope and created the compensation model of bias,scale factor.The paper analyzed the suitable attitude measurement and solution method of high dynamic flight missile, created the attitude algorithm model of different sub-sample algorithm in connect with rotation vector, emulated the solution error, got the relationship between the algorithm accuracy and sub-sample. At the same time, provided an algorithm for accumulated error dynamic calibration of gyro by calculating the roll angle with magnetic signal, further improved the accuracy of attitude algorithm. The correlated algorithm can provide a theoretical basis for the attitude algorithm of high dynamic enviroment.