Alignment And System Algorithm Design Of MEMS Dual-axis Rotation Modulation Inertial Navigation System

In recent years,with the advent of MEMS inertial sensors,MEMS dual-axis rotation modulation inertial navigation system have become a hot research topic.In this paper,the design of MEMS dual-axis rotation modulation inertial navigation system alignment and system algorithm is studied,and the algorithm is transplanted into the navigation computer.Firstly,the inertial navigation system update algorithm is deeply studied.According to the angular rate and specific force information of the MEMS inertial measurement unit output,two new algorithms based on the angular velocity interpolation equivalent rotation vector method and the angular rate and the force interpolation interpolation algorithm are proposed.The equivalent rotation vector method based on angular rate interpolation can significantly improve the accuracy of attitude update.The paddle effect compensation algorithm based on angular rate and specific force interpolation can significantly improve the accuracy of speed update.For position update,the loop feedback method is used to suppress the height channel.Divergence,using the second-order Runge-Kutta method to update the position.Secondly,the initial alignment algorithm of MEMS dual-axis rotation modulation inertial navigation system is studied.Design a self-aligned scheme based on MEMS dual-axis rotation modulation inertial navigation system.The coarse alignment simplifies the compass alignment method,omits the process of realignment,directly estimates the attitude angle of the carrier,and then uses Kalman filter for fine alignment.The simulation of the algorithm under study is carried out to support the software implementation of the algorithm.Thirdly,the design and implementation of the MEMS dual-axis rotation modulation inertial navigation system algorithm is carried out.The overall scheme of MEMS dual-axis rotation modulation inertial navigation system algorithm is designed.The software needed to implement the algorithm is divided into modules.The design of Linux operating system transplantation module is completed,including Boot Loader transplantation,kernel transplantation and file system transplantation.The data acquisition module programming of the unit ADIS16488A;in the navigation calculation module,the software implemented by the algorithm is implemented and transplanted into the navigation computer;the navigation result output module programming using the serial communication;the program of the humancomputer interaction module using C# Design,including data communication functions,realtime curve drawing functions,data display and save functions;programming of dual-core data exchange modules.Finally,the MEMS dual-axis rotation modulation inertial navigation system is tested and verified.The Linux operating system transplantation test verification was carried out;the data acquisition test verification of the inertial measurement unit;the verification of the dual-core data exchange;the experimental verification of the initial alignment algorithm using the measured data,the results show that the self-alignment method of MEMS dual-axis rotation modulation inertial navigation system is effective;the navigation data is verified by the measured data,which proves the correctness of the navigation calculation module software design.The experimental results show that the MEMS dual-axis rotation modulation inertial navigation system alignment and system algorithm design meets the requirements of MEMS dual-axis rotation modulation inertial navigation system.