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MEMS inertial navigation system and track reconstruction method based on same

An inertial navigation system and trajectory technology, applied in the field of inertial navigation, can solve problems such as reduced accuracy

Inactive Publication Date: 2016-08-24
ZHEJIANG UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Therefore, the reduction of accuracy requires a special algorithm to ensure the accuracy of the reconstructed trajectory

Method used

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  • MEMS inertial navigation system and track reconstruction method based on same
  • MEMS inertial navigation system and track reconstruction method based on same
  • MEMS inertial navigation system and track reconstruction method based on same

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Experimental program
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Embodiment Construction

[0084] The present invention will be further described below in conjunction with the accompanying drawings.

[0085]A MEMS inertial navigation system includes an inertial sensor, a first level conversion module, a power module, a second level conversion module, and a host computer; the inertial sensor is made up of an accelerometer and a gyroscope; the first level conversion The module is equipped with a wireless transmission module; the second level conversion module is equipped with a wireless receiving module; the accelerometer is used to measure the three-axis acceleration of the sensor, and the gyroscope is used to measure the three-axis angular velocity of the sensor; the accelerometer and The gyroscopes are all connected to the first level conversion module; the wireless transmission module and the wireless receiving module transmit data wirelessly; the second level conversion module is connected to the host computer through USB; the host computer performs static Error ...

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Abstract

The invention discloses an MEMS inertial navigation system and a track reconstruction method based on the same. A six-position method is applied to error factor identification on a gyroscope and an accelerometer, a static error model is obtained, and therefore static errors are compensated; the random error of the gyroscope and the accelerometer is remarkably reduced through filtering of a low pass filter, noise is lowered, and output precision is improved. A complementary filter algorithm is adopted for effectively combining the updated attitude angles of the gyroscope and the accelerometer to obtain an attitude matrix. The attitude matrix is used for acceleration conversion and gravity compensation, and then the triaxial acceleration of a navigation module in an inertial coordinate system is obtained. Finally, track and speed information is obtained through iterative dual integration. The independently solved attitude angles of the accelerometer and the gyroscope are combined through the complementary filter algorithm, divergency of drifting of the attitude angles can be restrained, and attitude calculation is greatly improved in a dynamic state and a static state.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, in particular to a trajectory reconstruction method based on a MEMS inertial navigation system. technical background [0002] Micro Electro Mechanical System (MEMS, Micro Electro Mechanical System) is the extension and development of microelectronic technology, and it has developed rapidly at the end of the 20th century and in the first ten years of this century. Due to the rapid development of the electronic industry and computer technology and the continuous reduction of the manufacturing cost of electronic devices, some high-end technologies in military science and technology have begun to be applied to the field of consumer electronics, and the application of MEMS in human-computer interaction has attracted more and more attention. MEMS inertial sensor is the product of MEMS application in the field of inertial navigation, which is composed of MEMS accelerometer and MEMS gyroscope...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/16G01C21/20
Inventor 邬博骋徐方凯郑开瑜谢磊
Owner ZHEJIANG UNIV
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