Research And Implementation Of Beidou Biped Micro-inertial Navigation Equipment Technology

In the emergency rescue process,due to the complex rescue environment and many uncontrollable factors,the traditional satellite navigation equipment is very vulnerable to signal occlusion or interference,and the loss of positioning results or large calculation error occurs from time to time.Based on Micro-electro Mechanical System(MEMS),the microinertial navigation equipment has the characteristics of small size and low power consumption.It can perform positioning autonomously.Since the input parameters collected are derived from its own components,it is completely independent of the limitations of satellite navigation signals.The combination of micro-inertial navigation equipment and traditional satellite navigation equipment into satellite-inertial navigation system,which fully utilizes its own advantages,is a better solution to the continuous positioning in complex environment.However,due to the small size of components used in micro-inertial navigation equipment and limited by processing technology,the accuracy is inevitably low,and the calculation error of inertial navigation will increase exponentially over time.Therefore,introducing other observations to correct the error is an effective way to solve the problem.According to this idea,this paper studies the following techniques to improve the positioning accuracy:1.Referring to the design idea of Dual Inertial Integrated Navigation System(DIINS),a "biped" micro-inertial navigation system is designed,in which two micro-inertial navigation devices are combined to observe multiple parameters and the parameters are complementary,so as to improve the positioning accuracy;2.According to the periodic characteristics of human walking pace,during the bipedal alternate process,one foot speed is set to zero for origination,so the positioning information can be corrected to improve the positioning accuracy;3.Solutions of Radio Frequency(RF)ranging and data fusion,are introduced to constrain the problem of fast divergence of azimuth error,to improve the positioning accuracy.According to the actual test,the following conclusions are gotten: the principle prototype has excellent performance,positioning accuracy is better than similar equipment at domestic and abroad,and the design is reasonable and feasible.