ARMA AEE IC OE BURT: OMIMU) RABUN, TERM. BOB, TERE, EE PERRO OMAR. ALES MIMUGPS ASSAM ASHL ART AT T PUA: HOTT OEB AAD REROM RE, Ri THAT RAL KR, HEVA A AAR PANS ie, HEI. Bett, BREE REET TAR MMRAT. GRAMM IRPATUKAREO RN, BR WR SEALE ch RRS EPS ST TRA, BT SERB RULE SHCA. ARERR, SEPP GM+AR i SEF OAR EP, A eS A RE ET eT tke BT HPAL MIMU AGT T 6 CO, PAL SRE, Dit T AMR eT PIR le, I. HRM, AERTS. HLAT. MAAMGERSR. WY MIMUGPS ASHMF OM RAUTT AR, AMR ERA FARBWR, SugeHusa HEM, HMC, NAAR BET T HAR. HURRAH, MIMU 5 GPs MARARLAT, MARSMMES GPS HAA. RATHER, ESTER, LOAATHRT URS ALMEWBRSRTE, HT PETAR EMRE, EME FUGUE HA TOG. APH INS HIT REORAS SRR, MILT AA PMARRAR, WT REZ ALAR RASRAAEWELH, MPSADASE RASA BRR RMT T mite. SRR: ROULRPEAR GUERRA Rt PARES Be ETE RASH TAACHAEA AEST IO I ABSTRACT Micro Inertial Measurement Unit has many advantages such as small volume, light weight, low cost, high reliability ete. It will be applied broadly in the field of military and civil. Some important problems about MIMU/GPS integrated navigation system are studied in this paper. A series of results are presented as follows: Uniform design are utilized in the test of single degree of freedom and double degree of freedom micro mechanical gyro. The table of uniform design and experiment scheme are designed. Many important parameters such as bias, factor, stability, repetition ete are measured in detail. The result shows that the uniform design in the test of micro gyro can shorten the measuring time and reduce the cost of the test. ‘Non-stationary random signal of micro gyro drift is studied , the mathematic mode! of the random signal is established. By using the gray model and time series, A new GM+AR model is applied in the research of micro gyro temperature model. The result shows that the precision of the model and calculating speed is better than the traditional methods. A simple mathematic model of micro gyro and accelerodemeter is designed by velocity and only six position calibration, Some model parameters such as bias, scale factor, coefficient of installation error are confirmed. The efficient of the model compensation is checked by the real test, The test result shows that the precision of MIMU is highly improved after error compensation, and the mathematic model is simple,the speed of calculation is also high. ‘The algorithms of MIMU/GPS integrated navigation system are studied. Some kinds of algorithms such as Kalman Filter, Suge-Husa Adaptive Filter, Fade factor kalman filter are studied and compared on the base of model result as mentioned above. The simulation result shows that the integration of MIMU and GPS is feasible, the accuracy of positioning improved a lot. ‘Transfer alignment is studied in depth. The mathematic model of transfer alignment is reckoned, Calculation parameter matching and measurement parameter matching are studiedARAMA AS AAC and compared through four trails. A new method of Genetic Algorithm is used for the transfer alignment, The simulation results shows that GA method is much more better in precision and speed. ‘The double sateltite system is integrated with low cost strapdown inertial navigation system, and the mathematic model of integrated system is built up, the kalman filter model is designed. A new filter method named subsection filter is presented at the same time. It calculates the kalman filter in two times in the whole proceedings. The actual run trail shows that the model of the integrated model is correct and feasible. Keywords: Micromechanical gyro; Micro Inertial Measurement Unit; Uniform Design; Gyro dtift; Calibration; Transfer alignment; Integrated Navigation; Double-Star;