Research of micro integrated navigation system based on MIMU

According to the characteristics of applicable environment and MIMU itself, a new Kalman filter was designed. The shallow integrated mode was adopted for improving fault-tolerant and reliability, and considering the low-precision MIMU, mathematics model of integrated navigation system was reasonably simplified. An adoptive Kalman filter was designed through judging average value and variance of the residual, and the weights of the filter were adoptively adjusted along with external environment. Thus it can avoid divergence and enhance system robustness. The simulation test show attitude angle error, velocity error and position error were well estimated; and then vehicle test illustrated the design was feasible.