Research On Algorithm Of Micro Integrated Navigation System Based On MEMS IMU

Based on Micro-Electro-Mechanical manufacturing technology,the Strap-down Inertial Navigation System(SINS)has a very broad application prospect in various positioning navigation platforms and guided weapon systems because of its small size,low cost,excellent autonomy and strong anti-vibration impact capability.At present,the accuracy and reliability of navigation systems are becoming more and more demanding in the military and civilian fields,and it is difficult for a standalone navigation system to meet the demand.The SINS has excellent autonomy and anti-interference capacity.Therefore,the integrated navigation system based on SINS has become an effective method to solve this problem.With the support of the 13 th Five-Year National Defense key Pre-research Project,this paper studied and analyzed the algorithms and techniques of micro integrated navigation system which was based on Micro-Electro Mechanical Systems Inertial Measurement Unit(MEMS IMU).The main contents are as follows:(1)This paper studied the related algorithms of Micro Inertial Navigation System(MINS)/BeiDou integrated navigation,including the error calibration and compensation method of the MEMS IMU,strapdown inertial navigation algorithm and MINS/BeiDou tightly integrated navigation algorithm.(2)This paper also studied the integrated navigation adaptive filtering algorithm and applied it to the MINS/BeiDou integrated navigation,including the nonlinear observation model of combined navigation,the nonlinear Gaussian filtering,Unscented Kalman Filter(UKF)and Cubature Kalman Filter(CKF),an adaptive UKF(AUKF)and adaptive CKF(ACKF)algorithm which was designed for the observation of abnormalities caused by interferences such as error and noise.(3)For improving the accuracy of the navigation system during satellite signals outage,this paper studied MINS/Virtual Sensor/Odometer integration system,including MINS/Virtual Sensor,MINS/Odometer,MINS/Odometer and Virtual Sensor,a solution for improving the accuracy or performance was presented while satellite navigation was denied.The experiment demonstrated this method gained an excellent performance and greatly improved the accuracy and robustness.(4)Based on the assembled integrated navigation hardware platform,this paper designed a detailed system verification scheme,including Micro-Electro-Mechanical inertial measurement unit test,calibration test,and field test.The results was compared and analyzed in detail.The results verified the correctness of the micro integrated navigation system based on MEMS IMU in this paper.