MIMU (Micro Inertial Measurement Unit) array fusion navigation method based on joint filtering

The invention discloses an MIMU (Micro Inertial Measurement Unit) array fusion navigation method based on joint filtering. The method comprises the following steps: step 1, acquiring gyroscope and acceleration data acquired by an MIMU array; and 2, calculating the position, speed and attitude information of each single MIMU by using data acquired by the MIMU array. The MIMU array fusion navigation method based on joint filtering, provided by the system, aims at the adverse effect of a single noise hypothesis and a single model hypothesis on integrated navigation precision, and comprises the following steps: firstly, carrying out error modeling by using a concept of a distribution set to realize fusion modeling of random noise and bounded noise; then, by taking an inertial measurement unit 15-dimensional error quantity as a state quantity and taking a distance difference and a speed difference between every two MIMUs in the array as observation vectors, establishing a fusion navigation model of the MIMU array;