Research On Position And Attitude Measurement Method Of Micro-Inertial Navigation System Compound Calibration And Multi-sensor Data Fusion

Aiming at the application of low-cost micro-inertial components in the environment of missile,the compound calibration of micro-inertial components and the experimental study of position and posture measurement are carried out in this paper.The traditional calibration method is generally applicable to the low dynamic application environment,and the calibration accuracy will be greatly reduced in the high dynamic environment.In addition,the decrease of sensor reliability in high dynamic environment will also lead to a sharp decrease in the measurement accuracy of kalman filter.How to reduce the original level output error of inertial sensor and the decision level output error of sensor data fusion is the main purpose of this paper.Firstly,for the problem that the micro-inertial device has low accuracy output in the environment of missile,the gyroscope's calibration algorithm is proposed in this paper.Implement the compound calibration experiment by three-axis turntable,adjust the relevant sensitive coefficient to the high dynamic axis offline by the method of fuzzy control theory,focus on solving the problem that the coupling effects between two or more shafts caused by sensitive axis's high speed rotating,and realize that the MEMS gyroscope's adaptive error compensation under dynamic environment.Secondly,in order to reduce the measurement accuracy due to the low output precision of the sensor compensation level in the high or low dynamic environment,the position and posture measurement's experimental research on the method of multi-sensor data fusion was carried out.The single sensor attitude measurement algorithm of gyroscope,accelerometer-magnetometer combination,and the position measurement algorithm of gyro-accelerometer combination were completed.Focus on analyzing how to estimate state variant by kalman filter,and the fusion measurement method of gyroscope,accelerometer,magnetometer and combining with satellite' velocity and position information that calculate the carrier's position,speed and attitude is realized.Finally,based on the problem that the change of reliability for sensors in dynamic environment results in the decrease of the measurement accuracy,the theory of the data fusion method of probability function is proposed,focus on researching the process of reliability function modeling of inertial navigation system,implement the sensors'reliability management,and by means of getting rid of the reliability factor,avoid the effect on position and posture measurement from the change of sensors' reliability that caused by the different conditions.The integrated navigation system constructed by satellite receiver and micro-inertial navigation system was established,and the vehicle-mounted experiment was carried out for the data fusion method of reliability function.The algorithm analysis results verified the feasibility and reliability of the proposed position and posture measurement method.