MEMS Inertial Navigation System Calibration, Compensation Technology And Navigation Attitude Algorithm Study

The MEMS inertial navigation system was called MEMS INS simply. There are threeMEMS gyros in it. The MEMS INS we studied was used in some product. It was an importantpart of the product. In the paper, some work was done to the MEMS INS calibration,compensation, and navigation attitude algorithm. We worked out two key technologies, one washow to realize the fast calibration, the other was how to realize long time navigationcombined with the GPS.The MEMS gyro’s precision was low, and was easily affected by temperature. In order toaccomplish mass, short time, high efficiency calibration and error compensation, we studied afast calibration method. First we established the MEMS INS compensation models, secondwe designed a calibration procedure different to other normal INS. At last we compared thefast calibration method with the normal ones, we enduced that the fast calibration methodworked.The product work time was long, but the MEMS INS’s precision was low. So we muststudy a navigation attitude algorithm which could make the MEMS INS adapt to the product.The algorithm could perform combined navigation with the GPS, and also could self-correctwhen there was no GPS information. At last we realized the long time navigation.Through the simulation and experimentations, the MEMS INS fast calibration methodand long time navigation attitude algorithm were proved to be right and effective, and adaptedto the practically project perfectly.