Research On The Technology Of Motion Recording Based On Inertial Measurement Unit And GPS

The motion recording technique is proposed based on the in-depth research of "Industrialization and promotion of online simulating and synchro recording technique" (20080506) which is the major project of "Technology development plan in Jilin province". It is a high-tech rose in the nineties of 20th century from the United States. As a multidisciplinary technique, it combines the latest achievements of research on several sophisticated technologies such as micro-inertial technology, strapdown inertial measurement technique, Kalman filter, and network communica-tion.etc. Meanwhile, this technique can be applied in military simulated training, Aerospace, teleoperation, security detection, vehicle performance testing, dynamic simulated reproduction and any other areas. Therefore, further research on the motion recording technology is of important theoretical and practical significance.Based on the current results of our research group, this paper presents further study and improvement of motion recording technique. To acquire motion state parameters of the carrier, the paper selects the micro-inertial/GPS combination method which gathered strapdown inertial measurement technique, GPS measurement technique and integrated navigation technology after referenced various attitude measurement methods of aircraft. In order to completing the record of the carrier motion, state parameters such as carrier's attitude coordinates were obtained through new attitude solution algorithm of motion with high accuracy.According to the background and development status of motion recording technique and the basic theories of strapdown inertial measurement, GPS measurement and Kalman filter, the paper proposes a new approach of motion recording—uses the inertial measurement and GPS combination method to measure the state parameters of motion. Against the weaknesses of strapdown inertial system and GPS measurement system, the method of inertial measurement in combination with GPS is analyzed deeply, and the loose combination way which selects level attitude angle, heading angle and speed to be the feedback of measurement had been proposed after that. In terms of the theoretical measurement method of carrier's attitude, the strapdown inertial attitude solution algorithm is deduced in detail. In order to achieve the optimal estimate of motion state parameters for the carrier, 15-order Kalman filter is established on the basis of strapdown inertial measurement system to implement the intergrading of information before that. Finally, the attitude measuring of motion which is completed by micro inertial/GPS combination method is simulated in Visual Studio 2008. The correctness of attitude solution algorithm of motion and the feasibility of the measurement approach based on IMU and GPS are verified through analysis of simulation result by MATLB.Compared to the previous recording techniques of motion, the more accurate state parameters of the attitude solution algorithm that deduced in this paper and the more factual record become the better foundation of simulation online and synchro representation technology of motion, equally facilitated the industrialization and promotion of the synchro recording technique.