| Recently,with advantages of low cost,small volume,high reliability,easy mass production,etc.,micro-electro-mechanical systems(MEMS)inertial device technology has been developed vigorously,which it is widely used in civil,military and other fields of inertial navigation system.Aiming at the application background of high precision and fast directional navigation in civil field,this paper conducted the research of the MEMS-IMU rotation modulation system with north-seeking function.The research,whose purpose is to study the feasibility of the integration of the north-seeking navigation system of the MEMS-IMU,included the north-seeking and navigation principle,the filtering algorithm,the design and manufacture of the prototype,simulation and experimental verification.Based on the principle of realizability,the cost of rotation mode,the design and selection of rotation modulation schemes were considered from different aspects.A rotation modulation North-seeking and navigation scheme based on MEMS-IMU was designed and the calibration method of MEMS-IMU is determined.Through angular rate experiment and angular position experiment,the necessary calibration of MEMS-IMU is carried out and the error compensation is completed.The design and implementation of the prototype of the MEMS-IMU rotating modulation system were completed,and the experimental platform was built.The north-seeking,navigation scheme and algorithm were verified by simulation and experiment.The experiment result showed that inertial navigation system has been significantly improved thinks to the MEMS uniaxial rotary.The north seeking absolute error in 3 minutes was less than 1°;the speed error of 10 minutes static base navigation experiment could be reduced from 250 m/s to 10 m/s;the position error could be reduced from 5×10~4 m to 500 m;and the pitch and roll errors could be reduced from 12 degrees to 1.5 degrees. |
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