The Reasch Of Micro Inertial Navigation System Based On Collaborative Navigation Network

The AHRS which based on MEMS inertial devices has the advantages of small size, low power consumption. In addition the unmanned craft collaborative navigation has a broadly application prospects. Meanwhile combined with laboratory project of USV collaborative navigation system, this paper researches on AHRS measurement algorithm of MEMS inertial devices MIMU and Magnetometers.Since the accuracy of MEMS inertial devices has a direct impact on the pose measurement accuracy, this paper firstuses the time series analysis and ARMA (2,1) model to analyze and compensate the real test drift error of MEMS gyroscopes. As well as the paper uses the separated calibration method to fix the deterministic error of MEMS inertial devices:the MEMS gyroscope and the MEMS accelerometer. All in all, those researches lay the foundation for the following attitude solver algorithm.On account of the AHRS based on MEMS inertial devices lonely dose not have the ability of completing real-time stable posture measurement tasks independently, this paper chooses the integrated navigation system which formed with magnetometer and MIMU.According to the magnetometer system error,we can know that the compass deviation has a large impact on the heading measurement of magnetic compass. So the paper uses the compass deviation compensation which is based on elliptical hypothesis, Futhermore, through the adopted measurement test,the paper completes the datas error compensation,and also to verify the compensation effect.After determining the overall design MIMU / magnetometer combination AHRS, the paper begins to research Integrated Navigation System Attitude Update Algorithm. Combining with the MEMS gyroscope model and the actual ship navigation environment, and by studying comparatively of the adopted theoretical analysis and simulation of the normal attitude solver algorithm, the paper eventually determines the attitude updating algorithm navigation which is based on quaternion fourth-order Runge - Kutta method.This paper uses the measured value of the MEMS accelerometers and magnetometers to complete the initial combination alignment. Then Kalman filter equations are derived to establish for data information fusion. After the above steps, the simulation by MATLAB software is used to verify the validity and feasibility of the algorithm. What' s more important,the paper performs to compensate on the heading angle error of collaborative navigation network, and through the actual sports simulation to verify the feasibility of the algorithm..Through the study of AHRS based on micro inertial devices and magnetometer,this AHRS will apply to the following members of the dinghy based on USV collaborative network, as the navigation system equipment of the member dinghy. Sincerely hope this research can gradually from theory to practice, and eventually can be applied to the field of USV coordinated operations.