Research On Low-Cost SINS/GPS Integrated Navigation System For Homing Submunition And DSP Realization

Because of its long range, high precision and low cost, precision guided bomb hasgreat value in military application. Homing submunition researched in this paper, whosenavigation system is build up by SINS and GPS with low cost and high precision, is oneof precision guided bomb. This paper analyzes and researches on inertial navigationalgorithm, alignment algorithm, integrated navigation algorithm and engineeringrealization based on the development process of homing submunition. Main work islisted below:(1) Introduce basic principle of SINS in detail, deduce computing method ofattitude matrix (increment is inertial components outputs) and navigation parameters.Analyze mechanism of coning motion errors, rowing effect error, rotation effect error,provide compensation algorithm.(2) Discretization SINS equation, provide the programmable SINS recursionalgorithm and its simplified version. Simulation result shows that this algorithm canresolve attitude, velocity and position of SINS precisely. However, error of pure inertialnavigation system is high while precision of inertial component is low.(3) Deduce analysis formula coarse alignment algorithm, Kalman filter accuratealignment algorithm and strapdown compass accurate alignment algorithm on staticbase. Analyze and reduce order of Kalman filter accurate alignment equation. Deducethe relationship between inertial component error and alignment precision. Simulationresult shows that both accurate alignment algorithms can be close to or reach limit error,and strapdown compass accurate alignment algorithm has higher precision. However,error of these alignment algorithms is high while precision of inertial component is low.(4) Research on SINS/GPS integrated navigation algorithm. Analyze time varyingsystem equation quantitatively by singular value decomposition(SVD) and reduce orderof system equation. Apply data space and time synchronization method dues toasynchronous data between SINS and GPS in engineering. Simulation result shows thatobservability of course angle error can be improved by maneuver of carrier, precision ofvelocity and position can also be improved by application of integrated navigationalgorithm.(5) Introduce composition and structure of bomb integrated navigation systemprototype, design structure and program module based on hardware characteristics.Develop and debug DSP program on integrated development environment CCS. Test the prototype statically and on three axis swing turntable. The result shows that both staticvelocity, position error and attitude tracking error on three axis swing turntable of theprototype perform identical, which shows research findings is applicable in engineering.