Modeling, Based On Mems Technology, Micro Integrated Navigation System

With the rapid development of Micro Electromechanical System (MEMS), the Micro Inertial Measurement Unit (MIMU) has gradually showed its excellent performance, and the integrated navigation system consisting of MIMU and Global Positioning System (GPS) has become the research focus. Based on the analysis of the development and application of MIMU, the modeling of the miniature integrated navigation system has been analyzed and studied in this dissertation. The main works concentrate on the following aspects:The structure and primary operation principle of MIMU and GPS are introduced, and the various error sources influencing the accuracy of MIMU and GPS are analyzed. The error models for MIMU and GPS are established.Kalman filtering theory and its application condition are analyzed. The dynamic and observation equations for MIMU/GPS integrated navigation system which adopts Kalman indirect filtering algorithm a re e stablished. The integrated system adopts a closed loop feedback correction method, which can feedback MIMU with the best estimation for the errors of position, velocity and digital platform caused by MIMU and errors brought by inertial devices, to restrain the divergence of kalman filter.The simulation analysis to MIMU and MIMU/GPS is performed with the help of MATLAB. The result shows: (a) the accuracy of MIMU is limited by the error of micro inertial devices and the errors diverge quickly, thus MIMU can not be used as an unaided navigation system, (b) MIMU/GPS integrated system with kalman filter can restrain the divergence and improve the long-term navigation accuracy by feedback.