| This paper presents a Micro-Multi-sensors integrated navigation system for dual-use, which take MEMS-IMU(micro-mechanics inertial measurement unit),GPS(global positioning system) and BA(Barometer Module) as its major sensors.Firstly, the program for the SINS(strap-down inertial navigation) solution is studied deeply, and the reason of making error in solution is discussed by mathematical modeling. Secondly, the navigation positioning principle of sensors used in the system is analyzed. And the reason for the device error is summarized and modeled, basis On this basis, the hardware designing and software debugging for integrated navigation system is completed. Thirdly, the accuracy of inertial navigation system is verified through the static system test, and the result indicates that the Micro-Multi-sensors integrated navigation system designed in this paper is able to meet the requirement of middling precision. Finally, Combined filter apply to nonlinear non-Gaussian is presented and calculation simulation is carried by MATLAB. Simulation results show that the filtering method used in this paper can restrain the system divergence efficiently with non-Gaussian noise. |
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