A combined system of redundant MEMS and laser radar

In this paper, we adopt a combination optimization algorithm of multi-Micro Electro Mechanical System(MEMS), according to the differences of different single independent MEMS, which are combined to achieve the optimal accuracy. The scheme we proposed is to integrate two MEMS gyroscopes and four MEMS accelerators. Theoretically, this algorithm is effective in situations of multi MEMS units. At the same time, we use the laser radar to measure environmental information to match the position where the object arrives just the prior moment. This allows a closed-loop trajectory acquired by combining MEMS and radar information. Based on the closed-loop trajectory, we build the graph model, and then use the graph optimization algorithm to optimize the trajectory and get more accurate pose information.