Research On Rotating Dynamic Characteristics Of MIMU/GPS Dual Antennas System

MEMS inertial devices have the advantages of small size,light weight,low power consumption,high reliability and low manufacturing cost,and are widely used in the field of navigation.With the introduction of a GPS dual antennas,rotating mechanism and MIMU component system,the positioning and orientation accuracy of the combined system will be significantly improved.Therefore,this dissertation focuses on the study of the rotation dynamics of the MIMU/GPS dual-antenna combination system.The main research contents and achievements are as follows:A single-axis rotary platform used for the rotary MIMU/GPS dual-antenna combination system was designed,including mechanical design,line connection,driver setting and turntable control.The velocity and position characteristics of the GPS antenna measurement in the rotation process were studied,and the rotation error compensation method was given.The single-difference and double-difference rotation characteristics of the satellite carrier phase of the GPS dual-antenna are studied.The satellite unit direction vector calculation method for the rotating GPS antenna is given.The antenna position exchange method and baseline rotation in one circle method are determined to calculate the baseline course.The error propagation equation and error modulation mechanism of rotating MIMU INS are given theoretically.The influence of rotation speed and rotation direction on rotary MIMU INS is studied,and the initial alignment method of rotation combined system is given.Non-orthogonal errors and rotational centrifugal accelerations are compensated.The experimental data analysis verifies the correctness of the GPS dual-antenna rotation orientation method,verifies the effectiveness of the non-orthogonal error compensation of the rotating shaft,compares the effects of rotating MIMU INS at different rotation speeds,and compares the one-way continuous rotation MIMU with the pros and cons 360 degree of rotation MIMU inertial navigation results.And the results verify the optimization of MIMU inertial rotation modulation technology.The research results of this dissertation provide a good reference for the design,development and optimization of the rotating MIMU/GPS dual-antenna integrated navigation system,and it has a good reference value for engineering applications.