MEMS惯导系统的误差自修正技术研究

Research on the error self-correction of MEMS inertial navigation system

针对当前MEMS惯性器件漂移误差大的问题,提出一种无需外界信息辅助的误差自补偿方案。通过引入旋转调制技术实现器件偏差的对称平均,通过理论推导分析惯性器件标度因数误差和安装误差对于误差旋转调制技术的影响。利用高精度惯性测试转台搭建误差旋转实验平台并进行误差自修正方法的实际性能验证。实验结果有效地验证了IMU旋转调制技术对于改善系统测姿定位精度的可行性,在现有MEMS器件精度基础上实现更高精度导航成为可能。

According to the current MEMS inertial devices＇ large drift error,the error self-compensation method without any other suggestions was proposed in this paper.The rotating modulation technology was used to average the device bias.The error characteristics of scale factor and installation were analyzed.The practical performance of error self-correct method was verified on high precision test turntable.Experimental results show effectiveness of error rotating modulation to improve the navigation precision of MEMS inertial system.This research can provide theory study and engineering application reference for independent work of MEMS inertial navigation system.