Research On BDS / SINS Integrated Navigation System Based On Guided Projectile

Guided projectile is one of the development directions of intelligent ammunitions, making up the blank between the guided missile and traditional ammunitions and being widely applied in modern warfare. Nowadays most countries devote to the development of guided projectiles with low cost and high precision. As the core piece, navigation system has become the study emphasis. Navigation technology based on satellite (GNSS)/inertial navigation is the mainstream currently and also developing trend in future. As satellite is the key part of integrated navigation, GPS has a long-time monopoly, becoming a potential risk to GPS-based weapon system developed by CHINA, while BDS of CHINA is in the rapid development and has realized regional operation. The research of integrated navigation based on BDS has higher military value.An integrated navigation test system based on STM32F407 has been designed and implemented in this thesis. The main work is as follows:At first, operating performance of STM32 and DSP has been compared. Considering the projectile platform, hardware circuit scheme with STM32 as the core processer is determined based on the specified analysis of hardware design requirements. Inertial sensor module, satellite module as well as power module are designed in detail and then integrated.Secondly, the random error of the inertial sensor ADIS16448 applied in this thesis is analyzed and modeled with the method of Allan variance. In order to analyze the error characteristics in static and highly dynamic environments, static and dynamic data acquisition experiments were conducted on the three-axis rotary table.Thirdly, the basic principle of the strap-down inertial navigation and satellite positioning is expounded in detail. The Kalman filtering method is applied to realize data fusion for the satellite and inertial sensors. Based on the loose-combined navigation method, gross error and redundant data are eliminated by statistical means with preliminary data. The integrated navigation algorithm is simulated and analyzed with a set of UAV data, and comparison with the simple inertial navigation is also accomplished.Finally, data collection of satellite and inertia sensors was realized with the abundant peripheral resources of STM32 while solution of inertia navigation as well as data fusion based on loose-combined navigation method is achieved by its DSP core. The navigation performances of the integrated navigation system under the circumstances of good and invalid satellite data were respectively verified by the ground vehicle experiment, meanwhile, the feasibility and stability of every hardware modules were proved.