Ultra Miniature MEMS/Satellite Integrated Navigation System

【摘要】：An ultra miniature embedded MEMS/satellite navigation system has been designed. The system consists of MEMS gyroscope, MEMS accelerometer, magnetometer and satellite positioning module. Based on engineering applications, the paper presents a highly reliable filtering algorithm of extended Kalman filter and real-time calibration of the error term, to improve the performance of navigation system. In the static case, the system attitude angle error is less than 0.2 °, and heading angle error is less than 0.5 °. In the dynamic case, the system attitude angle and heading angle error are less than 1 °. If the satellite positioning module is suddenly interrupted, the system will last for 30 seconds, maintaining positioning accuracy of 20 meters.