MEMS Accelerometer Applications for Navigation Control

• Main Authors: FANG CHUN-MIN, 方淳民
• Other Authors: LEE SOU-CHEN
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/23898079854980909912

博士 === 國防大學中正理工學院 === 國防科學研究所 === 96 === According to past research literature in the field of operating navigation guidance function had evidently proved that gyroscope free inertial navigation system was considered having excellent work to replace the traditional inertial navigation system by the factors of its mechanization, size and weight consideration. With the novel technology of computer science and dedicated electronic manufacturing, Micro–Electro-Mechanical System (MEMS) becomes popular use recently, it has the advantage in its small volume, accuracy, efficiency and low price characteristics. In addition the structure is simple, it can be combined and mounted into a comprehensive guidance system work. In the future application fields, such as, aerodynamics, biomechanics as well as national defense, undoubtedly it will be capable of providing some important possible applications and developments. The purpose of this thesis is developing a mechanism of combining MEMS accelerometer and the gyroscope free theorem with a rigorous exploration. Especially in the sensor’s orientation and location placement, it proposes a workable compensation method. Consider the redundancy property of the configuration, it also raises and discusses several configurations in the minimal form design, when the vehicle comes across the unpredictable conditions such as environment change or sensor’s malfunction situation. Since the compensated six-accelerometer INS cannot be used in a long term navigation, this paper proposed a method for integrating six-accelerometer INS with GPS, The navigation error can be converged in a reasonable small range than the use of six-accelerometer INS only and get promoting the accuracy of navigation. Based on the six accelerometer theorem, this thesis is combining the hardware of MEMS accelerometers into the whole design and manipulates the integration of automatic gyroscope free inertial system. It construct several experiments for the system design, they are measuring test, platform test and numerical simulations in one-dimensional motions. The simulation result shows that the systematic error can meet the requirement of its design purpose in a short term mission navigation. Also, a novel calibration method and compensator design for the MEMS gyroscope free INS are developed to enhance the navigation accuracy. For combining six-accelerometer with GPS system also be considered for reducing system errors and providing a more accurate navigation in a long term navigation work. It believes that a MEMS gyroscope free INS will set in a new development and application in the near future. Undoubtedly this thesis plans an initiator and that is one of important contributions in its research work .