The Study Of The Technology Of Micro INS Network System In Practical

Inertial navigation technology measure carrier three-dimensional motion parametersby inertial sensor，which is ultimately be used to determine the three-dimensionalorientation and location information of the carrier by integral computation. MEMS inertialsensor has been more and more applied in inertial navigation system, with the advantageof lower cost, lower power consumption, etc. But its accuracy is poor. Build a microinertial network system with several MEMS inertial sensor and a high-precision MINS,and use the high-precision MINS to correct the sub MEMS SINS regularly, in order toimprove the accuracy of MEMS SINS. In this paper, some key technologies of this systemin practical are studied.The composition of micro inertial network system is introduced, include severalMIMU, a high-precision MINS, data acquisition circuit, CAN networks, and so on. Andthen each part is analyzed. The basic principle of the whole system is also expounded inthe article. Analyze the writing method of multi-channel data acquisition software and useVC++6.0to complete the data acquisition software in order to provide reliable data sourcefor the follow-up work.Based on the analysis of micro inertial sensor error, this thesis gives out a low costand convenient calibration method, which is suitable for micro inertial sensor calibration,six-position positive and negative angular rate input calibration method, to make up forthe deterministic error of inertial sensor. Aiming at MEMS gyro random drift error, timeseries analysis and wavelet analysis is used to model and compensate for the random drifterror in the paper. And the both effects of the compensation is compared. Finally, waveletthreshold denoising method is chose for the compensation for gyro random drift.Combined with the characteristics of INS for ship, the angular rate matchingmeasurements for transfer alignment is derived, and the compensation formula for thelever arm effects is given. Then, the state equation and observation equation of angularrate matching transfer alignment are established. Simplify it and design the kalman filterfor estimating the installation error angle between the master INS and the sub INS. And asimulation experiment is given in the thesis.The design of micro inertial network system software is completed by the mixedprogramming of VC++and MATLAB. The software is on-line simulation tested by theuse of dual-axis turntable.