Research On Integrated Navigation System Of HCV And Experiment Using Unscented Kalman Filter

Hypersonic Cruise Vehicle (HCV) will be and has already been the focus in aeronautic and aerospace field in 21st Century. The characters of high velocity and ability in shock action make it to be the strategic development consideration of military countries around the world. The navigation system is the eye of HCV, and it concerns the attack power. In this paper, the scheme, model and algorithm of navigation for hypersonic cruise vehicles have been studied. And the experiment, in order to check the Unscented Kalman filter, is also studied in this paper. The main contents are as follows:First, a brief introduction about the research on Hypersonic Cruise Vehicle around the world was given. In order to get the primary parameters during the flight, a simple flight trajectory was designed and Flight 2 trajectory of X-43 was taken as a reference. Comparing the characteristics of navigation systems, the integrated navigation system for hypersonic cruise craft was presented, The strap down inertial navigation system (SINS) was adopted in launch stage. According to velocity and position information of Global Navigation System of Satellite (GNSS) and error angles of platform of Celestial Navigation System (CNS), the SINS was adopted in cruise, the angle of sight offered by seeker aids the SINS in terminal stage. The principle and algorithm of SINS was studied, and the simulation of SINS performance in the HCV showed that only one navigation sensor can't serve. Other systems were needed to aid the SINS. The dissertation included the principle of determining position and attitude for CNS. The error-state of SINS, inertial sensor, Star sensor, receiver of GNSS, have been analyzed and modeled.This dissertation mainly researched on the Kalman filter. A federated filtering navigation algorithm based on Unscented Kalman filter (UKF) was developed. The advantages and the disadvantages of UKF and EKF were analyzed. Then the simulation on HCV navigation system using the federated filter based on UKF was carried on, which was an innovation of this dissertation. The simulation result showed that the accuracy using the federated filter based on UKF was satisfied. In the laboratory, the static experiments were carried on to check the error analysis and the error model of SINS. The dynamic experiments, include the track, the scheme, were designed, and the result were analyzed. The experiment results showed that the accuracy of UKF was a little better than the EKF. And a primary research of fault detection and fault tolerant of integrated navigation system on HCV was also carried on, in order to improve the reliability of integrated navigation system of HCV.