The Research Of The Distributed Navigation System Based On The MEMS Inertial Sensor

Navigation is a kind of method helps the user to get the destination bysome methods. The navigation sensor is the most important hardware ofthe navigation system. The MEMS accelerometer and the MEMSgyroscope are enjoying a fast developing. And the MEMS accelerometerand the MEMS gyroscope are used in a wild range thanks to their lowpower consumption, low cost and small size. But the MEMS is short fortheir accuracy, which prevents them to be used in the system requires highperformance.This paper uses ALLAN variance to analysis the error characteristicsof the MEMS accelerometer and the MEMS gyroscope. And error model isintroduced based on the characteristics of errors. And a data fusion filter isdesigned according to the error model. This data fusion filter improves theperformance of the system by taking advantage of the redundantinformation.The final part of this paper introduces the distributed navigationsystem, and the shows the advantages of the distributed navigation system.And two kinds of distributed navigation systems are designed, one of themuses MEMS gyroscope as the navigation sensor, and the other one usesMEMS gyroscope and GNSS receiver as the navigation sensor. Thesimulations show that the distributed MEMS system can improve theperformance of the system, and the accumulated errors can be restrainedby introducing the GNSS receiver.