Algorithm Of Inertial Measurement System Based On MEMS

This dissertation investigated the Micro Strapdown Inertial Measurement System based on the measurement of Micro Electro Mechanical Systems (MEMS) based Inertial Sensor Unit.MEMS based inertial sensors have extraordinary advantages over other inertial sensors in size and cost. However, the poor performance of MEMS based inertial sensors in precision and resolving power has limited its development. This dissertation considering the actural requirements, takes MEMS inertial sensors as measurement unit, accompanying with essential signal collection circuitry and microprocessor, to design the low-cost Inertial Attitude Mesurment System.Study on Attitude-updating Algorithm. Analyzed the coning error, the study based on quaternion and rotation vector attitude-updating algorithm, educed advanced sample-compensation algorithm. Throught simulation analyzed the advantages and disadvantages of each algorithm.Study on velocity-updating algorithm. First described velocity-error graph under common acceleration conversion situation, but the result show that the conversion precision was not acceptable. Second in order to reduce the excursion rate to minimum, improved the sculling algorithm under the typical sculling environment. Simulation compared the calculator precison of velocity-error graph under the prior two situation.At last, based on MEMS gyro and accelerometer, designed both the hardware and software of rockets' inertial measurement calculator system. The test result is acceptable show that MEMS can be used in rocket.