Dynamic MEMS (micro-electromechanical systems) inertial attitude measuring system based on self-adaptive robust integration algorithm

Abstract

The invention discloses a dynamic MEMS (micro-electromechanical systems) inertial attitude measuring system based on a self-adaptive robust integration algorithm, and provides a sensing system for measuring an attitude angle of an inertial space at high accuracy under a dynamic acceleration environment. The dynamic MEMS inertial attitude measuring system comprises an MEMS inertial unit, a magnetometer, a data integration computer, and a synchronous sampling and data communication unit, wherein the MEMS inertial unit is used for collecting the angular speed and acceleration of a sensor in the inertial space; the magnetometer is used for collecting the component information of an earth magnetic field; the data integration computer is used for operating the self-adaptive data integration algorithm; the synchronous sampling and data communication unit is used for obtaining the data of the synchronous sensor, and transmitting to other equipment on a bus through a digital interface. The dynamic MEMS inertial attitude measuring system has the advantages that the problem of low attitude accuracy due to the easy influence by the acceleration in the existing MEMS inertial attitude measuring system is solved; a high-accuracy attitude measuring system with small size and low cost is realized.

Description

technical field [0001] The invention relates to the field of mechanical technology, in particular to a dynamic MEMS inertial attitude measurement system based on an adaptive Lupine fusion algorithm. Background technique [0002] The inertial attitude measurement system is mainly used in weapon platforms, robots, construction machinery and various carriers that need to maintain balance in a dynamic environment. Traditional tactical-level inertial navigation can maintain high precision for a long time, so it is widely used in various weapon systems. However, the cost of high-precision inertial navigation often reaches hundreds of thousands of yuan, which greatly limits the application of inertial technology in the civilian market. In recent years, with the development of MEMS (Microelectromechanical Systems, an industrial technology that integrates microelectronics technology and mechanical engineering) technology, low-cost MEMS inertial devices are gradually replacing traditi...

AI Technical Summary

Problems solved by technology

However, the initialization time is long, and the digital smoothing and filtering of the attitude data will cause the attitude data to be delayed, which is difficult to meet the real-time requirements of the servo system

[0004] A miniature strapdown attitude system and its working method (patent number: 201210516500.1) uses MEMS devices to reduce costs, and uses Kalman filter technology to fuse raw sensor data to obtain relatively accurate attitude angles, but Kalman filter The optimal estimation can only be performed when the system noise and measurement noise are known, and the system model regards motion acceleration as measurement noise, so there will be large errors in the estimation results, which will lead to unstable filtering in severe cases

In addition, the system model is selected as the sensor body coordinate system. This model is easy to cause the external interference magnetic field to affect the horizontal attitude angle and heading attitude angle at the same time, so the anti-interference ability of the system is poor.

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