| With cost reduction of the micro inertial sensors, the micro inertial measurement units composed by micro inertial sensors have become hot topic in the field of navigation. MIMU and other navigation system integrated for navigation has become the main aspect of the low cost navigation in land. A method of MIMU/GPS/magnetometer integrated system is studied in this thesis under the field of low cost navigation in land, and alignment of MIMU, positioning and attitude determination in dynamic are studied.A method of magnetometer/accelerometer integrated system is proposed for the alignment of MIMU. Test a magnet compass with the turn table, the periodic error is analyzed, the result show that precision of the magnetometer/ accelerometer integrated system is about 0.3 degree and can finish the alignment of MIMU.Adapt filter and Kalman filter are studied and compared for MIMU/GPS integrated system. A model of MIMU/GPS integrated is founded, the experiment of MIMU/GPS is finished, Kalman filter and adapt filter are compared under the real data. The result shows that the precision of MIMU/GPS and GPS is almost no different when the mode is accurate. The error of the filter can be restrained by adapt filter when the mode of MIMU/GPS is inaccurate.A new method of attitude determination with MIMU/GPS/magnetometer integrated system in dynamic is proposed for the shortage of traditional magnet compass in dynamic. The quaternion in navigation is studied, a model based on the quaternion is founded, attitude determination is finished with the feedback correction. The result of simulation show that the problem of traditional magnet compass in dynamic can be solved with the method proposed in this thesis .The result of simulation and test show that the method of MIMU/GPS/magnetometer proposed in this thesis can position and attitude determinate effectively, it meets the require of land navigation system actually and gives a foundation of land navigation system for use. |
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