Research On SINS/GPS/Magnetometer Integrated Navigation Algorithm Based On MEMS

In the modern and the future military field that can be predicted,a variety of high strength,high against,harsh and complex battlefield environment is badly in need of various micro reconnaissance,confrontation and combat weapons,in addition,the UAV,autopilot,intelligent robot,mineral development and many other civilian areas is also in urgent need of high precision,small volume and high reliability of micro navigation system.MEMS-SINS/GPS integrated navigation system can not only give full play to the superiorities of the traditional combination,but also has the advantages of strong environmental adaptability,low cost and small volume,and it has become the focus of research and development in the navigation domain,and it surely will have a very broad space for development.Aiming at the characteristics of MEMS inertial device itself and the key technical problems of MEMS-SINS/GPS integrated navigation,that is the dynamic alignment,and the error characteristic of MEMS-SINS/GPS integrated navigation,from the analysis and compensation of sensor error,information fusion of integrated navigation,calibration and the use of magnetometer,this article mainly study how to improve the comprehensive performance of the integrated navigation from the aspects of accuracy,the stability and the reliability of system and put forward a set of design of scheme of integrated navigation.The main contents are as follows:Firstly,we make the analysis and compensation of the error of the MEMS-IMU.Study on the Allan variance analysis method for random errors,and the overlapping Allan variance is used to identificate and estimate the random error of MEMS-IMU,then the time series modeling method is used for modeling and analysing the random error of MEMS gyroscope;then we study the wavelet filtering method,and the wavelet transformation theory is analyzed,and the static and dynamic simulation analysis of noise reduction is done for MEMS gyroscope by using wavelet filtering method;And we study the temperature compensation algorithm of MEMS gyroscope,the temperature compensation of MEMS gyroscope is done by using polynomial fitting and BP neural network fitting method respectively,and then we analyze and summarize the advantages and disadvantages of BP neural network algorithm.Secondly,the dynamic alignment technology of GPS/MEMS integrated navigation is studied.Firstly the framework of Bayesian theory and the nonlinear filtering recursive algorithm for nonlinear Gauss system are discussed in detail in this paper;then we study the specific nonlinear Gauss filtering algorithm,the EKF,UKF and CKF algorithm are analyzed and derived in detail;And the large azimuth misalignment angle error model of dynamic initial alignment is given.The dynamic alignment scheme under the large azimuth angle is designed,then we carry out a large number of simulation experiments.The EKF,UKF and CKF algorithm are used to simulate the dynamic alignment respectively.And the initial maneuver of the straight,turn,and the S shape are used to validate the reliability and validity of the proposed dynamic alignment scheme,and we analyze the influence of different initial maneuvering mode and different filtering methods on dynamic alignment.Finally,we study the GPS/MEMS/magnetometer integrated attitude determination technology.First,through the simulation experiment,we analyze the static and dynamic error characteristics of GPS and MEMS-SINS integrated attitude determination system;and then we study the calibration technology of magnetometer,give the international geomagnetic reference model,the error analysis of the magnetometer is made,and then we put forward correction algorithm for magnetic calibration on the basis of practice innovatively,and the simulation experiment of magnetometer calibration is carried out.A comparative study on the traditional ellipsoid fitting method and CKF filtering method based on the the horizontal attitude proposed in this paper is made;Then we design the GPS/MEMS/magnetometer integrated attitude determination scheme,and the results of experiment carried ou show the effectiveness and reliability of the proposed GPS/MEMS/magnetic integrated attitude determination scheme.