Design method of IMU digital filter for inertial navigation system

Abstract

The invention relates to a design method of an IMU (inertial measurement unit) digital filter for an inertial navigation system. The adopted the scheme is that the design method comprises the following steps: through overall planning, dividing an IMU special filter for the inertial navigation system into various filter assemblies by class, extracting parameters of each assembly, designing and establishing various filter assembly models to form an IMU special digital filter assembly model library, reestablishing a combination and reconfiguring parameters according to different IMU needs by selecting the assemblies from the IMU special digital filter assembly model library to form a filter model meeting IMU special data processing needs of different inertial navigation systems, determining the filter model through data simulation verification of the models, and automatically converting the model into an embedded system code. By the design method, quick and efficient design of the IMU special filter of the inertial navigation system is achieved; the IMU special filter has good certainty, simulation, testability and extensibility; the consistency of design, simulation and achievement is effectively ensured.

Description

technical field [0001] The invention belongs to the field of IMU (inertial measurement unit) data processing of an inertial navigation system, and relates to an IMU digital filter design method for an inertial navigation system. Background technique [0002] IMU is an inertial measurement component commonly used in inertial navigation systems. Its data processing depends on different IMUs and the inertial systems loaded by the IMU. The signal processing filters for sampling inertial components have different requirements in terms of algorithm structure and parameter configuration. In the construction of the IMU digital signal processing filter of the inertial navigation system, it is necessary to design, simulate and verify separately for various types of IMUs and the inertial navigation systems loaded there. [0003] The construction method of the IMU digital signal processing filter of the original inertial navigation system is as follows: first, according to the character...

AI Technical Summary

Problems solved by technology

The disadvantage of this design method is that there is no knowledge reserve in the establishment of the simulation model, and the non-homology between the simulation model and the implementation code will often cause repeated iterations of design, simulation, and implementation.

[0004] At present, the IMU special filter design, simulation and software implementation of the inertial navigation system are in a disconnected state, and the design results have no knowledge reserves, and it is entirely dependent on manpower to ensure the consistency of software implementation and design, which often brings about a large gap from design to implementation. Loop iteration is time-consuming and manpower-consuming, and the IMU special filter design of the inertial navigation system has no previous experience and knowledge for reference, the development efficiency is low, and the reliability and safety are poor

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