MEMS inertial positioning system course optimization method based on redundancy technology

Abstract

The invention relates to an MEMS inertial positioning system course optimization method based on a redundancy technology, which uses a plurality of low-precision sensors to replace a high-precision sensor under the existing MEMS sensor technology level, thereby achieving the purposes of improving the reliability and the positioning precision of the system and reducing the cost of the system at the same time. A device redundancy technology is utilized, gyroscopes are configured at different positions, according to data measured by a sensor, the acceleration of a carrier in the x-axis direction, the y-axis direction and the z-axis direction is calculated, different weights are set according to the acceleration, a system state equation and an observation equation of the redundant accelerometer are established through Kalman filtering, and the system state equation and the observation equation of the redundant accelerometer are calculated. A sensor data fusion model of the redundant system is obtained by combining a configuration matrix of the sensor; and finally, the data is fused according to the weight to solve the three-axis optimal angular velocity of the carrier. Weighted fusion is carried out according to the acceleration of each gyroscope sensitive shaft, the drift error influence caused by external acceleration impact and vibration on the gyroscope is reduced, and the course precision of the system is effectively improved.

Description

Technical field [0001] The present invention belongs to the field of inertial navigation technology, relates to a mems inertial positioning system heading optimization method based on redundancy technology, can be used to reduce the gyroscope by external acceleration shock, vibration caused by drift error, effectively improve the heading accuracy of the system. Background [0002] At present, the widely used indoor positioning technology is inertial navigation and positioning technology, inertial navigation and positioning technology relies on the acceleration information, angular velocity information and height information measured by the system's own sensors to obtain the attitude information and position information of the carrier to achieve the positioning of the carrier. With the rapid development of MEMS technology, the volume and accuracy of MEMS inertial sensors are continuously optimized and the cost is constantly reduced, making it possible to locate intelligent termina...

AI Technical Summary

Problems solved by technology

Although the MEMS technology has improved the accuracy of the MEMS inertial sensor, due to the limitation of the sensor technology level, the reliability and measurement accuracy of the MEMS sensor are relatively low, and it is a long-term process to improve the measurement accuracy and reliability of the sensor itself, so The accuracy of the inertial positioning system is still insufficient

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