Research On Attitude Calculation Based On MIMU

With the maturation and development of MEMS(Micro Electro Mechanical Systems)technology,micro-inertial measurement systems based on MEMS sensors are hot topics in theory and technology research and engineering applications.This article takes the motion information of a product’s underwater motion process as the research background,uses the MEMS-based micro inertial measurement system to collect and store the information such as the angular velocity,acceleration of the carrier,and the magnetic field of the surrounding environment,and then solves the gesture according to the information,speed,position,and other motion parameters.Based on the above objectives,the paper conducts the following research work:1.Determine the appropriate data solution method.Several commonly used attitude calculation methods are deduced,and the experimental comparison of the algorithm is conducted,so that an appropriate gesture update algorithm is selected.For the micro-measurement system,the MIMU error propagation model is established.2.Error modeling of the inertial measurement device.The error of the inertial measurement device is the main source of the entire system error,which severely restricts the accuracy of the system and is therefore the focus of research.This article introduces the working principle of the system MEMS gyroscope,MEMS accelerometer,MEMS magnetoresistive sensor,establishes the sensor error model,and uses the Allan variance method to model and analyze the random error of the MEMS sensor.There is a limit to the error in which the divergence of the pose is caused so that the system output becomes stable in the working environment.3.The key point is to optimize the attitude solution algorithm,establish a suitable sensor observation model,and use Kalman filter to perform data fusion to obtain the optimal estimation of the attitude angle.Through experiments,the long-term stability of the algorithm is verified and a certain degree of accuracy is guaranteed.