用于短时定位的MEMS旋转调制惯性导航系统

MEMS Rotation Modulation Inertial Navigation System for Short-Time Positioning

旋转调制技术能通过旋转机构的周期性转动有效地提高惯性导航系统的导航精度。首先,对在短时导航情况下的惯性导航系统和旋转调制惯性导航系统的误差特性作了详细的分析。接着,针对实际的MEMS旋转调制惯性导航系统,介绍了它的系统组成,并通过分析和比较确定其旋转方案和导航解算方案。同时,旋转机构引入的误差被分析和补偿。在此基础上,进行了静态和动态实验,并通过TRMS方法进行了精度评估。实验结果表明,静态实验和动态实验在旋转调制状态下的精度分别达到不旋转状态时的10倍左右和3倍左右。

Rotation modulation technology can effectively improve the navigation accuracy of the inertial navigation system by the periodic rotation of the rotation mechanism. First,the error characteristics of the inertial navigation system and the rotary modulation inertial navigation system under short-time navigation are analyzed in detail. Then,aiming at the practical MEMS rotary modulation inertial navigation system,its system composition is introduced,and its rotation scheme and navigation algorithm are determined through analysis and comparison. At the same time,the error introduced by the rotation mechanism is analyzed and compensated. On this basis,static and dynamic experiments are carried out and the accuracy is evaluated by the time real root mean square error（ TRMS） method. The experimental results show that the position accuracies of the rotation modulation state in the static and dynamic experiment are about 10 times and about 3 times than that of the non-rotation state.