Research Of The Error Compensation Technology Based On Micro Inertial Navigation System Under Cooperative Navigation Net

MEMS inertial navigation system has a low precision and its error is easy to accumulate,so it can not be used in long-time navigation, and this will badly limit its application. Because collaborative navigation has the advantage of sharing resource in the network, so, with the advantage resources shared in network resources between different platforms, error of low-precision MEMS navigation system would be compensated, and therefore get better performance than single MEMS navigation platform. This method realizes the advantages of complementary resources, which saves costs and improves accuracy of navigation, and extends the navigation time greatly. Currently, to improve MEMS navigation accuracy base on collaborative navigation technology has received more and more attention, and has the trend to turn into the mainstream of navigation. So nowdays, how to improve navigation accuracy of micro inertial navigation system under collaborative network has become a hot topic research.This paper briefly introduces the research status of MEMS inertial navigation systems and collaborative navigation network theory, and does a simple introduction to compensation of micro inertial navigation devices. On the basis of this work, carried out the simulation of four-element solver navigation algorithm; because of MEMS inertial measurement unit can be easily affect by temperature changes, And moreover, there exists a lot of installation error,zero bias and other factor to affect its accuracy,so established suitable mathematical model,then carry out rate calibration tests based on six-position and rate method. Then, designed full temperature calibration tests in its operating temperature range. From the test results; these calibration methods is very mature, can be applied to practical works.Regard to random drift is one of the most important micro-inertial system error for MEMS devices, firstly, using Allan variance to identify error sources of MEMS inertial devices, and make use of wavelet to extract data trend. Based on above steps, structure time series model, design the Kalman filter to filter random drift.Finally, introduces the basic principles of SINS, analyzes the error equation of MEMS devices under actual work environment. And by the way of solvering the static data, obtained the conclusion that the linear part of the drift is the major error. Finally, carry out a test of car's moving which equipped with high and low level navigation system, take heading angle of low accuracy for example, proposed a modeling method by the way of segmented to compensate its error. Extensive experiments prove that: the error compensation method of Micro Inertial Navigation System implemented in this paper is effective, especially in the terms of improving navigation accuracy under collaborative network, will have a good practical value.