Missile-borne MEMS inertial navigation dual-axis sixteen-position rotary modulation device and method

Abstract

The application discloses a missile-borne MEMS inertial navigation dual-axis sixteen-position rotary modulation device and method, and belongs to the field of missile navigation technology. The device comprises a missile-borne MEMS inertial navigation system, a small dual-axis rotary mechanism, a rotary mechanism control computer, a missile-borne navigation computer and a missile-borne communication device. The missile-borne MEMS inertial navigation system outputs angular velocity information of a gyroscope and specific force information of an accelerometer. The small dual-axis rotary mechanism is installed with the missile-borne MEMS inertial navigation system and rotates according to a dual-axis sixteen-position rotary modulation scheme. The rotary mechanism control computer is provided with a rotary modulation algorithm software module and controls the small dual-axis rotary mechanism to rotate. The missile-borne navigation computer is provided with a navigation algorithm software module, constructs an inertial navigation error model and performs error modulation on the inertial navigation system. The missile-borne communication device is connected with the missile-borne MEMS inertial navigation system and the missile-borne navigation computer. The application overcomes the defect that the error of the missile-borne MEMS inertial navigation system will greatly diverge with time under the condition of satellite denial, and improves the navigation precision of the missile under the condition of satellite denial.

Description

Technical Field

[0001] The present invention relates to the field of inertial navigation technology, and in particular to a missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device and method. Background Art

[0002] With the advancement of military technology, higher performance requirements are being placed on the navigation systems of various types of weapons and equipment. In particular, research on the ability to maintain position and attitude accuracy over long periods of time has attracted widespread attention within the field. Improving the long-term, precise positioning and attitude measurement capabilities of inertial navigation systems in satellite-denied environments, and in particular, maintaining the accuracy of missile-borne inertial measurement systems, has become a key research issue.

[0003] MEMS inertial navigation is an inertial navigation system manufactured using micro-electromechanical system technology. It employs miniaturized inertial sensors and processing devices to enable real-time monitoring and measurement of a carrier's position, attitude, and motion state in space. Its key features are small size, light weight, low power consumption, and low cost, making it suitable for missile-borne applications with strict requirements on size, weight, and power consumption. However, MEMS inertial navigation suffers from large temperature drift, susceptibility to vibration, and poor long-term stability. In long-duration applications such as cruise missiles, errors tend to accumulate and diverge over time.

[0004] Rotational modulation is a commonly used error compensation method in inertial navigation systems. It uses a rotational mechanism to periodically modulate the output of inertial sensors to eliminate or minimize the impact of errors and drift on system accuracy. The concept of periodic rotational modulation of inertial device constant drift and zero bias was proposed by foreign researchers in 1968 and was first applied in the US C-IV inertial navigation system in the 1960s. In 2012, the National University of Defense Technology proposed a dual-axis, sixteen-position rotational modulation method, addressing the shortcomings of the mainstream eight-position rotation method in dual-axis rotational inertial navigation systems. This rotational method simultaneously compensates for the constant bias, scale factor error, and installation error of the inertial sensor, improving system navigation accuracy. Currently, this dual-axis, sixteen-position rotational modulation method is widely used in domestic rotational inertial navigation systems. Rotational modulation technology can effectively improve the performance of inertial navigation systems, enhancing navigation accuracy and stability. It can be categorized into single-axis, dual-axis, and three-axis rotational methods based on the number of rotational axes. Rotational modulation is primarily used in large inertial navigation systems such as ships and submarines, and is less commonly used in conjunction with small inertial navigation systems such as MEMS inertial navigation systems.

[0005] Patent CN101900559B proposes a dual-axis rotation modulation method for a strapdown inertial navigation system, aiming to reduce system implementation complexity and achieve rate-frequency deviation without requiring a high-angular acceleration commutation mechanism. This invention fails to design a rotation method specifically for the error characteristics of MEMS inertial navigation systems, nor does it specifically consider constant bias error, scale factor error, and scale factor symmetry error.

[0006] Patent CN108387229A proposes a MEMS inertial navigation system and north-finding method based on single-axis rotation modulation, which effectively suppresses the error of the MEMS inertial navigation system. However, the single-axis rotation method has difficulty in effectively suppressing the error coefficient on the rotation axis.

[0007] Patent CN111397635A proposes a dual-axis sixteen-position continuous rotation method for error modulation of the MEMS inertial navigation system, compensating for the zero bias error, scale factor error, and scale factor symmetry error of the MEMS inertial navigation system, but its rotation method needs to be implemented through a ground turntable.

[0008] In summary, combining the characteristics of missile-borne MEMS inertial navigation and the characteristics of rotational modulation technology, the present invention discloses a missile-borne MEMS inertial navigation dual-axis sixteen-position rotational modulation method and device. By measuring and modeling the drift characteristics of missile-borne MEMS inertial navigation, an improved dual-axis sixteen-position rotational modulation scheme is designed to suppress the missile-borne MEMS inertial navigation zero bias error, scale coefficient error and installation error, thereby achieving high-precision navigation requirements in missile-borne environments under satellite denial conditions. Summary of the Invention

[0009] The object of the present invention is to provide a missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device and method that can improve the missile-borne MEMS inertial navigation accuracy in the case of satellite denial.

[0010] The technical solution to achieve the purpose of the present invention is: a missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device, which includes a missile-borne MEMS inertial navigation, a small dual-axis rotation mechanism, a rotation mechanism control computer, a missile-borne navigation computer, and a missile-borne communication device;

[0011] The missile-borne MEMS inertial navigation system is used to output the angular velocity information of the gyroscope and the specific force information of the accelerometer in the three axes of X, Y, and Z, as well as the time information of the missile-borne MEMS inertial navigation system;

[0012] The small dual-axis rotating mechanism is used to install the missile-borne MEMS inertial navigation system and rotate according to the dual-axis sixteen-position rotation modulation scheme provided by the rotation modulation algorithm software module in the rotating mechanism control computer;

[0013] The rotation mechanism control computer is provided with a rotation modulation algorithm software module for deploying a dual-axis sixteen-position rotation modulation scheme and sending a control signal to the small dual-axis rotation mechanism to control the small dual-axis rotation mechanism to rotate according to the indexing method set by the dual-axis sixteen-position rotation modulation scheme;

[0014] The missile-borne navigation computer is provided with a navigation algorithm software module, which collects missile-borne MEMS inertial navigation data for navigation solution, builds a missile-borne MEMS inertial navigation error model, and performs error modulation of the missile-borne MEMS inertial navigation based on a dual-axis sixteen-position rotation modulation scheme;

[0015] The missile-borne communication device is used to connect the missile-borne MEMS inertial navigation system and the missile-borne navigation computer to perform data communication.

[0016] Furthermore, the rotation modulation algorithm software module in the rotation mechanism control computer provides a dual-axis sixteen-position rotation modulation scheme, as follows:

[0017] 1) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the Z axis, then rotates 180° in the positive direction around the X axis, then rotates 180° in the negative direction around the X axis, and then rotates 180° in the negative direction around the Z axis.

[0018] 2) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the X-axis, then rotates 180° in the positive direction around the Z-axis, then rotates 180° in the negative direction around the Z-axis, and then rotates 180° in the negative direction around the X-axis.

[0019] 3) The missile-borne MEMS inertial navigation system first rotates 180 degrees in the opposite direction around the Z axis, then rotates 180 degrees in the opposite direction around the X axis, then rotates 180 degrees in the positive direction around the X axis, and then rotates 180 degrees in the positive direction around the Z axis;

[0020] 4) The missile-borne MEMS inertial navigation system first rotates 180° in the opposite direction around the X axis, then rotates 180° in the opposite direction around the Z axis, then rotates 180° in the positive direction around the Z axis, and then rotates 180° in the positive direction around the X axis.

[0021] Furthermore, each rotation is set to 180 degrees, the rotation angular velocity is set to 10° / s, and the stop time ratio is set to 3.

[0022] Furthermore, the small dual-axis rotation mechanism is specifically an X-axis and Z-axis rotation mechanism, including a control motor, a communication interface and a braking mechanism, and the communication interface is connected to the rotation mechanism control computer.

[0023] Furthermore, the small dual-axis rotation mechanism weighs less than 3 kg, has a volume no larger than 200 mm×200 mm×200 mm, a rotation angular velocity range of 0.01° / s to 50° / s, and a dual-axis indexing mechanism position accuracy of less than ±1'.

[0024] Furthermore, the small dual-axis rotating mechanism feeds back the rotation angle to the missile-borne navigation computer via a communication device.

[0025] Furthermore, the missile-borne navigation computer uses the angular velocity information of the gyroscopes in the three axes of X, Y, and Z and the specific force information of the accelerometer output by the missile-borne MEMS inertial navigation to perform strapdown inertial navigation solution to obtain the missile body position information and velocity information, and combines the rotation angle information feedback from the small dual-axis rotation mechanism with the missile-borne MEMS inertial navigation's own attitude information to calculate the missile body attitude information.

[0026] Furthermore, the missile-borne MEMS inertial navigation error model constructed by the navigation algorithm software module in the missile-borne navigation computer includes zero bias error, scale coefficient error and installation error.

[0027] Furthermore, the error modulation of the missile-borne MEMS inertial navigation system based on the dual-axis sixteen-position rotation modulation scheme is used to suppress the zero bias error, scale factor error and installation error of the missile-borne MEMS inertial navigation system.

[0028] A missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation method is set to rotate 180 degrees each time, the rotation angular velocity is set to 10° / s, and the stop time ratio is 3. The specific scheme is as follows:

[0029] 1) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the Z axis, then rotates 180° in the positive direction around the X axis, then rotates 180° in the negative direction around the X axis, and then rotates 180° in the negative direction around the Z axis.

[0030] 2) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the X-axis, then rotates 180° in the positive direction around the Z-axis, then rotates 180° in the negative direction around the Z-axis, and then rotates 180° in the negative direction around the X-axis.

[0031] 3) The missile-borne MEMS inertial navigation system first rotates 180 degrees in the opposite direction around the Z axis, then rotates 180 degrees in the opposite direction around the X axis, then rotates 180 degrees in the positive direction around the X axis, and then rotates 180 degrees in the positive direction around the Z axis;

[0032] 4) The missile-borne MEMS inertial navigation system first rotates 180° in the opposite direction around the X axis, then rotates 180° in the opposite direction around the Z axis, then rotates 180° in the positive direction around the Z axis, and then rotates 180° in the positive direction around the X axis.

[0033] Compared with the prior art, the present invention has the following advantages: (1) taking into account the high dynamic characteristics of the missile-borne application environment, the high dynamic missile-borne MEMS inertial navigation drift characteristic measurement modeling is carried out, the influence of the high dynamic flight environment on the rotating mechanism and the missile-borne MEMS inertial navigation is reduced, the combination of the rotation modulation technology and the missile-borne MEMS inertial navigation is realized, and the solution accuracy of the missile-borne MEMS inertial navigation system is improved; (2) the improved dual-axis sixteen-position rotation modulation method is adopted to suppress the missile-borne MEMS inertial navigation zero bias error, scale coefficient error and installation error. Under the same hardware platform, the navigation accuracy of the missile-borne MEMS inertial navigation can be greatly improved by simply adjusting the indexing order. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic structural diagram of the missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device of the present invention.

[0035] Figure 2 It is a flow chart of the missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation method of the present invention.

[0036] Figure 3 The figures are comparison diagrams of position error, velocity error, and attitude error when using the method of the present invention and the prior art method for navigation solution in an embodiment of the present invention, wherein (a) is a position error comparison diagram, (b) is a velocity error comparison diagram, and (c) is an attitude error comparison diagram. DETAILED DESCRIPTION

[0037] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in this field without creative work should fall within the scope of protection of the present invention.

[0038] The present invention provides a missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device, which includes a missile-borne MEMS inertial navigation, a small dual-axis rotation mechanism, a rotation mechanism control computer, a missile-borne navigation computer, and a missile-borne communication device;

[0039] The missile-borne MEMS inertial navigation system is used to output the angular velocity information of the gyroscope and the specific force information of the accelerometer in the three axes of X, Y, and Z, as well as the time information of the missile-borne MEMS inertial navigation system;

[0040] The small dual-axis rotating mechanism is used to install the missile-borne MEMS inertial navigation system and rotate according to the dual-axis sixteen-position rotation modulation scheme provided by the rotation modulation algorithm software module in the rotating mechanism control computer;

[0041] The rotation mechanism control computer is provided with a rotation modulation algorithm software module for deploying a dual-axis sixteen-position rotation modulation scheme and sending a control signal to the small dual-axis rotation mechanism to control the small dual-axis rotation mechanism to rotate according to the indexing method set by the dual-axis sixteen-position rotation modulation scheme;

[0042] The missile-borne navigation computer is provided with a navigation algorithm software module, which collects missile-borne MEMS inertial navigation data for navigation solution, builds a missile-borne MEMS inertial navigation error model, and performs error modulation of the missile-borne MEMS inertial navigation based on a dual-axis sixteen-position rotation modulation scheme;

[0043] The missile-borne communication device is used to connect the missile-borne MEMS inertial navigation system and the missile-borne navigation computer to perform data communication.

[0044] As a specific example, the dual-axis sixteen-position rotation modulation scheme provided by the rotation modulation algorithm software module in the rotation mechanism control computer is as follows:

[0045] 1) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the Z axis, then rotates 180° in the positive direction around the X axis, then rotates 180° in the negative direction around the X axis, and then rotates 180° in the negative direction around the Z axis.

[0046] 2) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the X-axis, then rotates 180° in the positive direction around the Z-axis, then rotates 180° in the negative direction around the Z-axis, and then rotates 180° in the negative direction around the X-axis.

[0047] 3) The missile-borne MEMS inertial navigation system first rotates 180 degrees in the opposite direction around the Z axis, then rotates 180 degrees in the opposite direction around the X axis, then rotates 180 degrees in the positive direction around the X axis, and then rotates 180 degrees in the positive direction around the Z axis;

[0048] 4) The missile-borne MEMS inertial navigation system first rotates 180° in the opposite direction around the X axis, then rotates 180° in the opposite direction around the Z axis, then rotates 180° in the positive direction around the Z axis, and then rotates 180° in the positive direction around the X axis.

[0049] As a specific example, each rotation is set to 180 degrees, the rotation angular velocity is set to 10° / s, and the stop time ratio is set to 3.

[0050] As a specific example, the small dual-axis rotation mechanism is specifically an X-axis and Z-axis rotation mechanism, including a control motor, a communication interface and a braking mechanism, and the communication interface is connected to the rotation mechanism control computer.

[0051] As a specific example, the small dual-axis rotation mechanism weighs less than 3kg, has a volume no larger than 200mm×200mm×200mm, a rotation angular velocity range of 0.01° / s to 50° / s, and a dual-axis indexing mechanism position accuracy of less than ±1'.

[0052] As a specific example, the small dual-axis rotating mechanism feeds back the rotation angle to the missile-borne navigation computer via a communication device.

[0053] As a specific example, the missile-borne navigation computer uses the angular velocity information of the X, Y, and Z axes of the gyroscope and the specific force information of the accelerometer output by the missile-borne MEMS inertial navigation to perform strapdown inertial navigation solution to obtain the missile body position information and velocity information, and combines the rotation angle information feedback from the small dual-axis rotation mechanism with the missile-borne MEMS inertial navigation's own attitude information to calculate the missile body attitude information.

[0054] As a specific example, the missile-borne MEMS inertial navigation error model constructed by the navigation algorithm software module in the missile-borne navigation computer includes zero bias error, scale coefficient error and installation error.

[0055] As a specific example, the error modulation of the missile-borne MEMS inertial navigation system based on the dual-axis sixteen-position rotation modulation scheme is used to suppress the zero bias error, scale factor error and installation error of the missile-borne MEMS inertial navigation system.

[0056] The present invention also provides a missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation method, which sets each rotation to 180 degrees, the rotation angular velocity to 10° / s, and the stop time ratio to 3. The specific scheme is as follows:

[0057] 1) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the Z axis, then rotates 180° in the positive direction around the X axis, then rotates 180° in the negative direction around the X axis, and then rotates 180° in the negative direction around the Z axis.

[0058] 2) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the X-axis, then rotates 180° in the positive direction around the Z-axis, then rotates 180° in the negative direction around the Z-axis, and then rotates 180° in the negative direction around the X-axis.

[0059] 3) The missile-borne MEMS inertial navigation system first rotates 180 degrees in the opposite direction around the Z axis, then rotates 180 degrees in the opposite direction around the X axis, then rotates 180 degrees in the positive direction around the X axis, and then rotates 180 degrees in the positive direction around the Z axis;

[0060] 4) The missile-borne MEMS inertial navigation system first rotates 180° in the opposite direction around the X axis, then rotates 180° in the opposite direction around the Z axis, then rotates 180° in the positive direction around the Z axis, and then rotates 180° in the positive direction around the X axis.

[0061] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] Example

[0063] The embodiment of the present application provides a dual-axis sixteen-position rotation modulation device for a missile-borne MEMS inertial navigation system. Figure 1As shown, the system includes the following modules: a missile-borne MEMS inertial navigation system, a small dual-axis rotating mechanism, a rotating mechanism control computer, an onboard navigation computer, an onboard communication device, and rotation modulation and navigation algorithm software. The missile-borne MEMS inertial navigation system is used to output angular velocity information from the gyroscope in the X, Y, and Z axes, specific force information from the accelerometer, and time information from the missile-borne MEMS inertial navigation system. The small dual-axis rotating mechanism is used to mount the missile-borne MEMS inertial navigation system and rotate according to the designed improved dual-axis rotation modulation rotation scheme. The rotating mechanism control computer is used to deploy the rotation modulation algorithm and send control signals to the small dual-axis rotating mechanism, controlling the rotating mechanism to rotate according to the designed indexing method. The onboard navigation computer is used to collect data from the missile-borne MEMS inertial navigation system and perform navigation calculations. The onboard communication device is used to connect the missile-borne MEMS inertial navigation system and the onboard navigation computer for data communication. The rotation modulation algorithm software is deployed in the rotating mechanism control computer and can be modified. The navigation algorithm software is deployed in the onboard navigation computer for navigation calculations.

[0064] Figure 2 Schematic diagram of the improved dual-axis sixteen-position rotation modulation indexing scheme provided in an embodiment of the present application.

[0065] The transposition scheme can be described as follows:

[0066] 1) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the Z axis, then rotates 180° in the positive direction around the X axis, then rotates 180° in the negative direction around the X axis, and then rotates 180° in the negative direction around the Z axis.

[0067] 2) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the X-axis, then rotates 180° in the positive direction around the Z-axis, then rotates 180° in the negative direction around the Z-axis, and then rotates 180° in the negative direction around the X-axis.

[0068] 3) The missile-borne MEMS inertial navigation system first rotates 180 degrees in the opposite direction around the Z axis, then rotates 180 degrees in the opposite direction around the X axis, then rotates 180 degrees in the positive direction around the X axis, and then rotates 180 degrees in the positive direction around the Z axis;

[0069] 4) The missile-borne MEMS inertial navigation system first rotates 180° in the opposite direction around the X axis, then rotates 180° in the opposite direction around the Z axis, then rotates 180° in the positive direction around the Z axis, and then rotates 180° in the positive direction around the X axis.

[0070] For this rotation scheme, it is stipulated that counterclockwise rotation is positive when viewed from the direction of the coordinate axis arrow, and the selected navigation coordinate system is the northeast celestial coordinate system, that is, U corresponds to the Z axis, E corresponds to the X axis, and each rotation is 180 degrees. The rotation angular velocity is set to 10° / s, and the stop time ratio is 3.

[0071] Figure 3(a), (b), and (c) are simulation comparison diagrams of position error, velocity error, and attitude error for navigation solution using the method provided by the present invention and the traditional dual-axis sixteen-position rotation modulation method. Scheme 1 is the traditional dual-axis sixteen-position rotation modulation method, and Scheme 2 is the method provided by the present invention. The simulation parameter settings of the missile-borne MEMS inertial navigation are shown in Table 1:

[0072] Table 1 IMU sensor error parameters (1σ)

[0073]

[0074] Set the initial point coordinates to: latitude: 32.02°, longitude: 118.86°, altitude: 53m, simulation time to 2 hours, and set the speed to fly at a constant speed of 10m / s towards the north.

[0075] Simulation results show that in a comparative experiment on rotational modulation methods, the method provided by the present invention significantly outperforms the traditional dual-axis, sixteen-position rotational modulation method in terms of position, velocity, and attitude errors. In a 24-hour simulation experiment, latitude and longitude accuracy increased by 86.07% and 51.93%, easting and northing velocities increased by 45.75% and 81.78%, respectively. The calculation accuracy of pitch, roll, and yaw angles increased by 37.37%, 22.95%, and 45.72%, respectively. Overall navigation accuracy is significantly superior to the traditional dual-axis, sixteen-position rotational modulation method.

[0076] Table 2 is a statistical table of the maximum values ​​of position error, velocity error and attitude error for navigation solution using the method provided by the present invention and the traditional dual-axis sixteen-position rotation modulation method. It can be seen that the rotation modulation method provided by the present invention is significantly superior to the traditional dual-axis sixteen-position rotation modulation method in terms of navigation accuracy.

[0077] Table 2 Statistics of the maximum values ​​of position error, velocity error and attitude error calculated by Scheme 2 and Scheme 1

[0078] method Latitude (m) Longitude (m) East speed (m / s) North speed (m / s) Pitch angle (") Roll angle (") Heading angle (") Solution 1 15677.82 8661.79 5.88 9.77 625.97 492.60 779.50 Option 2 2184.14 4164.00 3.19 1.78 392.02 379.53 423.14

[0079] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical method of the present invention and are not limiting. Although the present invention has been described in detail with reference to examples, ordinary technicians in this field should understand that the technical method of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device, characterized in that: The device includes missile-borne MEMS inertial navigation, a small two-axis rotating mechanism, a rotating mechanism control computer, a missile-borne navigation computer, and missile-borne communication equipment; The missile-borne MEMS inertial navigation system is used to output the angular velocity information of the gyroscope and the specific force information of the accelerometer in the three axes of X, Y, and Z, as well as the time information of the missile-borne MEMS inertial navigation system; The small dual-axis rotating mechanism is used to install the missile-borne MEMS inertial navigation system and rotate according to the dual-axis sixteen-position rotation modulation scheme provided by the rotation modulation algorithm software module in the rotating mechanism control computer; The rotation mechanism control computer is provided with a rotation modulation algorithm software module for deploying a dual-axis sixteen-position rotation modulation scheme and sending a control signal to the small dual-axis rotation mechanism to control the small dual-axis rotation mechanism to rotate according to the indexing method set by the dual-axis sixteen-position rotation modulation scheme; The missile-borne navigation computer is provided with a navigation algorithm software module, which collects missile-borne MEMS inertial navigation data for navigation solution, builds a missile-borne MEMS inertial navigation error model, and performs error modulation of the missile-borne MEMS inertial navigation based on a dual-axis sixteen-position rotation modulation scheme; The missile-borne communication device is used to connect the missile-borne MEMS inertial navigation system and the missile-borne navigation computer to perform data communication; The dual-axis sixteen-position rotation modulation scheme provided by the rotation modulation algorithm software module in the rotation mechanism control computer is as follows: 1) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the Z axis, then rotates 180° in the positive direction around the X axis, then rotates 180° in the negative direction around the X axis, and then rotates 180° in the negative direction around the Z axis. 2) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the X-axis, then 180° in the positive direction around the Z-axis, then 180° in the negative direction around the Z-axis, and then 180° in the negative direction around the X-axis. 3) The missile-borne MEMS inertial navigation system first rotates 180 degrees in the opposite direction around the Z axis, then rotates 180 degrees in the opposite direction around the X axis, then rotates 180 degrees in the positive direction around the X axis, and then rotates 180 degrees in the positive direction around the Z axis. 4) The missile-borne MEMS inertial navigation system first rotates 180° in the opposite direction around the X axis, then rotates 180° in the opposite direction around the Z axis, then rotates 180° in the positive direction around the Z axis, and then rotates 180° in the positive direction around the X axis.

2. The missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device according to claim 1, characterized in that: The rotation is set to 180 degrees each time, the rotation angular velocity is set to 10° / s, and the stop time ratio is set to 3.

3. The missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device according to claim 1, characterized in that: The small dual-axis rotating mechanism is specifically an X-axis and Z-axis rotating mechanism, which includes a control motor, a communication interface and a braking mechanism, and the communication interface is connected to the rotating mechanism control computer.

4. The missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device according to claim 1, characterized in that: The small dual-axis rotation mechanism weighs less than 3kg, has a volume no larger than 200mm×200mm×200mm, a rotation angular velocity range of 0.01° / s to 50° / s, and a dual-axis indexing mechanism position accuracy of less than ±1'.

5. The missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device according to claim 1, characterized in that: The small dual-axis rotating mechanism feeds back the rotation angle to the missile-borne navigation computer via the communication device.

6. The missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device according to claim 5, characterized in that: The missile-borne navigation computer uses the angular velocity information of the gyroscopes in the three axes of X, Y, and Z and the specific force information of the accelerometer output by the missile-borne MEMS inertial navigation to perform strapdown inertial navigation solution to obtain the missile body position information and velocity information, and combines the rotation angle information feedback from the small dual-axis rotation mechanism with the missile-borne MEMS inertial navigation's own attitude information to calculate the missile body attitude information.

7. The missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device according to claim 6, characterized in that: The missile-borne MEMS inertial navigation error model constructed by the navigation algorithm software module in the missile-borne navigation computer includes zero bias error, scale coefficient error and installation error.

8. The missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation device according to claim 7, characterized in that: The error modulation of the missile-borne MEMS inertial navigation system based on the dual-axis sixteen-position rotation modulation scheme is used to suppress the zero bias error, scale factor error and installation error of the missile-borne MEMS inertial navigation system.

9. A missile-borne MEMS inertial navigation dual-axis sixteen-position rotation modulation method, characterized in that: Set each rotation to 180 degrees, the rotation angular speed to 10° / s, and the stop time ratio to 3. The specific plan is: 1) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the Z axis, then rotates 180° in the positive direction around the X axis, then rotates 180° in the negative direction around the X axis, and then rotates 180° in the negative direction around the Z axis. 2) The missile-borne MEMS inertial navigation system first rotates 180° in the positive direction around the X-axis, then 180° in the positive direction around the Z-axis, then 180° in the negative direction around the Z-axis, and then 180° in the negative direction around the X-axis. 3) The missile-borne MEMS inertial navigation system first rotates 180 degrees in the opposite direction around the Z axis, then rotates 180 degrees in the opposite direction around the X axis, then rotates 180 degrees in the positive direction around the X axis, and then rotates 180 degrees in the positive direction around the Z axis. 4) The missile-borne MEMS inertial navigation system first rotates 180° in the opposite direction around the X axis, then rotates 180° in the opposite direction around the Z axis, then rotates 180° in the positive direction around the Z axis, and then rotates 180° in the positive direction around the X axis.

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