Integration Design And Filtering Algorithms Implementation Of Micro Inertial Measurement Unit For Large Overload

This subject is from a research institute.The research purpose is to design a microinertial measurement unit that is resistant to large overload,small volume,and strong adaptability,and complete the attitude measurement task.Micro Inertial Measurement Unit(MIMU)is used as the output module of the carrier attitude to provide position and attitude information for the carrier.The design of the future micro-inertial measurement unit will also be oriented toward miniaturization,low power consumption and high precision.T Based on MEMS(Microelectro Mechanical Systems)technology,this paper designs micro-inertial measurement unit and filtering algorithm,and formulates the overall scheme according to the application requirements.According to the requirements of the national production of MEMS inertial sensors,using STM32F407 with floating-point operation as the main control chip,rational design of the hardware circuit,writing the main control chip program,using LABVIEW software to write the host computer program,realizing the micro-inertial unit raw data And the display output of the attitude angle,and the data is packaged and sent to MATLAB for processing.Because the micro-inertial measurement unit is used in the environment with large vibration impact,ANSYS stress analysis is carried out on the designed inertial metal support structure.The simulation analysis results provide a theoretical basis for the structural design of MIMU.In order to improve the reliability of the micro inertial measurement unit,a rigid polyurethane foaming agent is injected into the orthogonally mounted MIMU to buffer the impact force of the module.the space layout of the micro inertial measurement unit is compact,and the sensor and the microprocessor work.A large amount of heat is generated.Therefore,the micro inertial measurement unit is thermally analyzed.According to the heat distribution analysis result,the heat dissipation design is added at the structural heat generation position,and the heat dissipation is applied to the surface of the heat-generating electronic component and the inner wall of the structural casing according to the corresponding heat distribution.Graphite sheet.For the accuracy of the micro inertial measurement unit,the orthogonal installation error,sensor error and temperature drift error of the integrated design MIMU are analyzed,and the modeling error model is compensated and calibrated to improve the output precision of the micro inertial measurement unit.For the random noise of the accelerometer and the gyroscope,the Allan analysis of variance is used to identify the random error components of the accelerometer and the gyroscope to evaluate the performance of the micro-inertial module.In the test part,the high-acceleration impact platform was used to perform a large overload impact test on the MIMU,verifying that the designed micro-inertial structure can withstand large overload shocks.Finally,a Kalman filter algorithm based on entropy criterion is designed to filter the MIMU output in real time.At the same time,the algorithm is compared with passive linear complementary filtering and extended Kalman filter.By comparing the root mean square of static and dynamic data.The magnitude of the value is judged by the degree of dispersion of the output attitude angle.According to the comparison and analysis of the three algorithms,the Kalman filter based on the entropy criterion improves the accuracy of the attitude output and the smoothness of the curve,and further validates the algorithm to Gauss.Both noise and non-Gaussian noise have good filtering effects,and the obtained attitude angle accuracy also satisfies the application in the actual environment.