Research On Technology Of Micro Inertial Integrated Navigation System

In recent years, the technology of MEMS has a rapid development ,with which the Micro Inertional Measurement System (MIMS) comes true,and MIMS became to be the hotspot of domestic and foreign scholars because of its advantages on size, weight and reliability.but it has the shortcomings on accuracy which is low relatively,and its shortconings have came to be a limit of its application. So how to use its own strengths, overcome its weaknesses to expand its field of application , become a key to the field of technology research .Global Positioning System (GPS) is a global, all-day, high-precision navigation and positioning system, which has no error accumulation ,but GPS is vulnerable to outside interference. GPS are complementary technologies to INS .So an integrated system of MIMS/GPS could take advantage of the strengths of both systems while minimizing the impact of their weaknesses.With the support of Small Business Innovation Fund, in this article,take the MTi Attitude Heading Reference System as the MIMS,combined with the GPS ,take Integrated Navigation Software Implementation Technology as a key part of the research,major studies as follows :1.Based on the analysis of the working principle of the MIMS and GPS as well as the key technologies of combination,by comparing the various integrate, in considering the accuracy of product required and the basis of existing conditions, selected a loosely-coupled based on the velocity and position of which is more easily to achieve. In order to reduce and avoid noncommutativity error of rigid body rotation,for system is in a high dynamic carrier, Using the three-sample equivalent rotation vector method as the strapdown matrix update algorithm,with the traditional quaternion algorithm being abandoned;taking conventional Kalman filter as the information fusion method, And adapt an indirect closed-loop control design idea in the system model.2.In order to observe the working state of the system easily, and display the navigation information real-time,made a navigation software based on VC++ in the PC. And developes a number of related fuctions,be able to do navigation solution and output navigation data realtime,and obseve navigation information intuitively, such as raw data and processed data of sensors,position,velocity and attitude information of integrated system,and comes with navigation information storage function as well.The software interface is of man-machine interactive. Adjust some parameters of th system through the keyboard is achieved.3.In order to analyze and test the working status of system,took several vehicle tests at different sections , and results show that the system worked correctly ,the output of system has the same accuracy with GPS.And then made a comparison between the output of system before and after GPS signal losing.