阵列式多MEMS-IMU协同导航系统与算法

In challenged or even denied environments of global navigation satellite system (GNSS), the autonomous navigation and positioning of unmanned vehicles are usually realized by inertial navigation. As a low-cost way of inertial navigation, MEMS-IMU has poor accuracy and reliability for long-time operation. In order to solve this problem, an array multi-MEMS-IMU cooperative navigation system and the corresponding algorithm are designed. Based on MEMS-IMU, rotation modulation and cooperative navigation technologies, a dual MEMS-IMU cooperative navigation scheme based on rotation modulation technology is analyzed, and an array of four MEMS-IMU cooperative navigation system for autonomous unmanned vehicles is designed for achieving high-precision position, velocity and attitude without GNSS signals. Simulation results based on real MEMS-IMU noise data show that, the attitude, azimuth and horizontal positioning accuracy of the array four-MEMS-IMU cooperative navigation scheme is more than 60% higher than that of the non-MEMS-IMU rotating system, and the whole performance of MEMS inertial navigation is significantly improved.