A Study On The Heading And Attitude For Micro Inertial System

It is the new technology developed in recent years in the world that the inertial systems of heading and attitude that is composed of micro inertial gyro and micro inertial accelerometer . This system is designed by technology of MEMS. It has many advantages such as cheap, small, light, high integrated level, good precision, which can bear abominable climate environment and mechanical environment ,which is fit for producing in enormous quantities .It is recognized in the military affairs and the civil field greatly. Firstly, this paper introduces the aim and meaning of study on micro inertial systems of heading and attitude.Secondly,the present research situation and the developing direction of micro inertial apparatus at home and abroad are summarized.It recommends basic principle and theory on micro-inertial systems of heading and attitude.This paper give out several kinds of algorithms for updating strapdown matrix immediately.It adopts three-order Taylor expansion of quaternion to update attitude algorithm for system in order to increase operation velocity and reduce computer task;It studies technology of digital filter.It has been proved to be effective that noise of system is reduced and performance of system is advanced by analysis of data;To MIMU , This paper analyzes the technology of the MIMU.The error model equation is set up. The demarcate experiment of MIMU is studied.The demarcate scale coefficient of three-dimensional gyroscope and the coefficient of cross-coupling error, the scale coefficient of three-dimensional accelerometer and cross-coupling error are all given.It applies method and theory of modeling of time series to make model of AR for excursion of gyroscope. At lastly,it studies question that discusses the initial alignment of Micro inertial systems of heading and attitude by Kalman filtering of magnetic heading and MIMU integrated system. According to examination,it indicates that the method and theory which this paper studies apply to micro-inertial systems of heading and attitude.