Attitude measurement method of micro-electro mechanical system (MEMS) inertial navigation system based on single-shaft forward revolution and reverse revolution

Abstract

The invention provides an attitude measurement method of a micro-electro mechanical system (MEMS) inertial navigation system based on single-shaft forward revolution and reverse revolution. Initial position parameters of a carrier are determined by means of a global position system and are input into a navigational computer; after being pre-heated, an MEMS inertial navigation system collects output data of an MEMS gyroscope and output data of an MEMS accelerometer; according relationship between carrier motion acceleration information measured by the MEMS accelerometer and local gravity acceleration and relationship between carrier angular speed information output by the MEMS gyroscope and the earth rotation angular rate, angle information between an inertial measurement unit (IMU) coordinate system and a navigation coordinate system is determined, and an initial alignment process of the system is completed; the revolution scheme is that an IMU alternately revolves for 360 degrees forwards and reversely around a carrier coordinate system (b coordinate system) and a cycle is completed; an output value of the MEMS gyroscope under the revolution state of the IMU is plugged into the inertial navigation system, and a strapdown matrix is updated by quaternion algorithm; and according to a real-time revolution angle position of the IMU relative to the carrier provided by an angle measurement mechanism, a transfer matrix of the carrier coordinate system and the IMU coordinate system is built, and by means of combination of the transfer matrix and an attitude matrix, a transfer matrix of the carrier coordinate system relative to the navigation coordinate system is calculated. According to the method, modulation for constant deviation of an inertial component is carried out, and attitude precision of the system is improved.

Description

(1) Technical field [0001] The invention relates to a measurement method, in particular to a MEMS inertial navigation system attitude measurement method based on single-axis forward and reverse rotation. (2) Background technology [0002] Micro-electro-mechanical systems (MEMS) have undergone years of continuous development since they were proposed in the mid-1950s. The inertial navigation system composed of MEMS devices is widely used in the environment of short-time work because of its low cost and the disadvantage of large device deviation. According to the basic principle of the inertial navigation system, the existence of the constant value deviation of the inertial device in the navigation process is the main factor that makes it difficult to improve the attitude accuracy of the inertial navigation system. How to effectively limit the error divergence of inertial navigation and improve the attitude measurement accuracy of inertial navigation system is an important top...

AI Technical Summary

Problems solved by technology

According to the basic principle of the inertial navigation system, the existence of the constant value deviation of the inertial device in the navigation process is the main factor that makes it difficult to improve the attitude accuracy of the inertial navigation system

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