The influence of the working environment on MEMS inertial sensors in the MEMS attitude reference system and the key technologies are analyzed. A thermal analysis model is built based on finite element method. Some heat dispersion schemes are proposed and the optimal selection is made based on the finite element analysis. The selected heat dispersion design is validated by the prototype of the MEMS inertial system. A piecewise linear model is put forward to solve the strong nonlinear errors of MEMS inertial sensors overall temperature. The calibration method is improved and the accuracy is improved in practice. The worthiness condition for the attitude integrated algorithm is investigated and the constraints for the attitude filter based on the flight state identification from the data of MEMS inertial sensors are optimized. The tests based on the rotation table and flight test are carried on and the validation of optimization method is demonstrated. The attitude errors are no more than 2. 5° overall the flight and they are no more than 1° at the stable flight state. The result shows that the MEMS inertial attitude reference system can be used in micro and small UAV or as the backup of main inertial navigation sys-tem(INS) in aircraft.%分析了MEMS微惯性姿态系统温度及载体运动等环境因素对MEMS惯性传感器的影响和姿态系统的关键技术；针对MEMS惯性器件的热环境优化,建立了基于有限元分析方法的热分析模型,仿真分析了散热设计方案,基于微惯性姿态系统样机,试验验证了散热设计的有效性；针对MEMS惯性传感器误差的强非线性特性,建立了全温范围分段线性误差补偿模型,改进了误差标定方法,有效提高了MEMS惯性器件的精度；分析了微惯性姿态组合算法的适用性条件,优化设计了基于载体飞行状态的微惯性姿态系统姿态滤波的约束条件.转台试验和飞行试验充分验证了环境适应性优化设计方法和结果的有效性,全程飞行条件下姿态误差优于2.5°,稳定飞行阶段姿态误差优于1°,该系统可满足姿态备份和微小型无人飞行器的应用需求.
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