Design and implementation of MIMU/GPS integrated navigation systems

With recent research, we outline the framework of a MIMU/GPS integrated navigation system with Micro-programming Controlled Direct Memory Access (MCDMA) technique and decoupled state and bias estimation applied in. The micro-miniature inertial measurement unit (MIMU) sensor module in this system is composed of three QRS14 gyroscopes and three 3140 accelerometers which are mounted on the three orthogonal basal planes of a hexahedron. Two sets of GPS receivers are served in the GPS module so as to calculate the azimuth angle during the system initial alignment. The integrated system has both advantages of loose and tight coupling. For less computation, the decoupled state and bias estimation is applied. The constant but unknown biases of inertial components are estimated accordingly with successful simulation results.