Mimu-based SINS/GPS Deep Integrated Navigation Algorithm

Low-cost&high-precision SINS/GPS integrated navigation system is composedof a strong autonomous SINS system and a high precision GPS navigation system.Not only can be applied in the field of high-performance precision-guided bombs, butalso can be used as a low-cost unmanned civilian car navigation systems. In this paper,a relatively mature technology and low cost micro inertial measurement unit (MIMU)as inertial sensors is selected, application transfer alignment technology for initialalignment, combined with Deep Integrated Navigation Algorithm SINS/GPS designeda low-cost high-precision inertial navigation system. Studied the SINS/GPS IntegratedNavigation several key issues, the main contents are summarized as follows:Can be effectively used to reduce system costs reduced volume as a sensorMIMU, but because of its design method using MEMS, processing andmicro-encapsulation process more sensitive to temperature, so now the inertia massproduction performance compared with conventional inertial sensors up to severalorders of magnitude difference, using recursive least squares method for temperaturecompensation scheme MIMU mathematical modeling. Gives the error compensationequation.Because even with a poor performance MIMU error compensation, In theself-alignment process will produce relatively large misalignment, so the velocity,attitude matching transfer alignment algorithm for initial alignment navigation. In thesimulation analysis, MIMU and considerable precision sensor alignment accuracy.Through a variety of navigation algorithm theoretical derivation and analysis,SINS/GPS integrated navigation system selects deep understanding count the amountof moderate, moderate precision solver Pseudorange rate of deep navigation algorithm.Verified through simulation platform based MIMU of SINS/GPS integratednavigation algorithm has reached deep high-precision navigation requirements.