Analysis of post-processing methods of IMU MEMS cluster of autonomous navigation of ground transport systems

Abstract

The work is devoted to the description of algorithms and schemes of blocks of sensitive elements (IMU MEMS cluster), applicable for navigation of ground autonomous systems. The work contains the principal description of schemes and methods applicable to a cluster consisting of 32 inertial navigation systems of rough accuracy and the study of the effectiveness of each method and each scheme by simulation mathematical modeling. 3 schematic diagrams of building an INS MEMS cluster consisting of 32 sensors are described. 3 methods of post-processing of excessive inertial information are described: the method of linear averaging, quadratic averaging and the method of interpolation. The mathematical regularities underlying each of the methods are described. A mathematical model is described that allows evaluating the effectiveness of postprocessing schemes and methods. Based on the mathematical model, conclusions are drawn about the operation of methods and schemes of the INS MEMS cluster of 32 sensors. Recommendations are given for choosing the scheme and methods of postprocessing redundant information when building a cluster solution.