Application Study Of Low-cost MIMU Based On MEMS

With the developments of inertial technology and micro-electromechanical technology ,the low-cost integrated navigation system based on MEMS(Micro-ElectroMechanical System) has become one of the key research areas in navigation field. The principal target of the study in this dissertation is to develop new theory and methodology for using the low-cost MIMU(Micro-Inertial Measure Unit), and to solve the problems in the navigation systems of today.The dissertation is arranged in the order as the principle of "from partition to overall, from component to system". The contents and main contributions are summarized as follows. At first, studied the fundamental principles of MIMU and build the model of MIMU. Proposed a new method to calibration MIMU in field. Second, study on the design of coning error compensation algorithms and accuracy. Coning error has a deep effect on the SINS( Strap-down Inertial Navigation System), high precision coning error compensation algorithm is the object of the study by researchers. Normalize equation are developed, then a set of coning error compensation algorithm is derived. Then, study on the design of coning error compensation algorithms for MIMU. Developed the custom coning algorithms and then a set of new coning error compensation algorithm is derived. The new ones proposed by the author develop the accuracy of coning error compensation. And then the limitation of the coning compensation algorithm is proposed. After that, study on the design of sculling error compensation algorithms. The sculling error compensation is a key aspect of research in using MIMU to get the good performance of the system, and new sculling algorithms are developed to get good effect on the sculling compensation. And then the limitation of the sculling compensation algorithm is proposed. Moreover, for integrated SINS/GPS navigation system, in the high dynamic environment, the out-of -step error has a deep effect on system. To overcome this problem, a new amended Kalman filter is designed. The simulation results can prove the correction of the new algorithm. At last, a new SINS navigation algorithms based MIMU is developed. To decrease the error of coning and sculling, a deep research is made on the high precision algorithm for strap-down inertial navigation system (SINS) and a new algorithm for SINS is proposed. Integrated SINS/GPS navigation system, which plays key roles in the navigation field, is also studied. The computer simulation and experiment are taken and the results are introduced. The results can prove the correction of the new algorithm.