Research On Modeling Gyro's Drift And Its Kalman Filter In MIMU

In order to meet the more and more strong request of modern flight carrier's mobility, the inertial navigation system performance has been requested higher capability. Because the error caused by the drift of the gyro is the neck of bottle to accomplish navigation, how to enhance the navigation accuracy of flight control system under the existing hardware equipment, which makes Kalman filter as a filter method have the important meaning in the inertial navigation system.It is the main task of this thesis to analyze and to model the gyro 's drift, the influence of the drift to navigation and how to restraint the drift.The output of inertia device was chosen as the research object. First, system of the Micro Inertia Measurement Unit has been introduced, it described every position of this system and the selection of the main sensors; after analyzing the gyro's errors and the method to dispose these errors, the inertial device's random drift error models are created by using the time-serial analysis. By gathering lots of data and analyzing lots of data, a random drift error models which meet this system has been made. Then the process of decreasing this drift error by making use of Kalman filter based on the above error model is expounded; in most practical projects , outline often appearances in the output of inertia device, so an improved Kalman filter based on the identification of ARMA model is proposed to resolve the presence of outline.We completed the hardware manufacture and the software development of the strapdown inertia navigation system's engineering prototype. We put some program of Kalman filter in the attitude resolving program. The theoretical analysis and the experiment's results show that the application of Kalman filter in the attitude resolving system restraints the gyro's drift effectively and makes the precision of navigation parameter enhanced.