| The inertial measurement system which is composed of micro-inertial gyro and micro-inertial accelerometer is a new technology developed in the world in recent years. This system is designed by technology of MEMS. It has many advantages such as cheap, small, light, high integration level, high precision, thus can bear severe climate environment and mechanical environment,and suits for production in enormous quantities. With great application potentiality in the fields of aerospace, precision instrument, biological medical treatment etc, it is paid more attention by many countries all over the word and classified as the key technology in the 21st century. This paper focus on studying data sampling and processing technology of gyroscope and accelerometer in the inertial measurement system.Firstly, the paper presents the operating principle of the strap-down inertial navigation system (SINS), introduces the coordinates used in the inertial navigation system, describes the definition and derivation of attitude matrix and presents the calculation method of attitude matrix. Quaternion's RK-4 formula is used for the immediate modification of the attitude matrix.Following is the establishment of a Micro-Inertial Measurement System. A detailed design explanation of the system hardware, which includes the selection of gyroscopes, accelerometers, filters, A/D converters, core processor (DSP) and the corresponding interface circuit design. With the principle of the system, the software of the inertial measurement system and the host software functions and programming ideas are explained.Finally, some experiments are done on the entire inertial measurement system. The accelerometers and gyroscopes are calibrated on the rotation simulator, and the output characteristic curve is gained. After the calibration of the whole system, rotation and movement experiments are done to test the practical performance of the system. Finally we analyze the error of the system and discuss the way to eliminate it.
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