Research On MSINS/GNSS Integrated Navigation System In High Dynamic Environment

With the guidance demand of conventional projectile and the development of MEMS inertial device, coupled navigation system is widely used in military field. This paper is oriented to the application of missile-borne MSINS/GNSS loosely coupled integrated navigation system in high dynamic environment. It mainly studies on MIMU and GNSS error analysis, MSINS solution algorithm, Kalman filter and methods to enhance the reliability of navigation system. The concrete achievements are as followed:(1) The error of MEMS inertial measurement unit (MIMU) is analyzed. The ascertainment error calibration equations of MEMS inertial measurement unit is established at system level. The Allan variance based on time-series analysis method is derived for uncertainty error modeling and analysis. The solution of uncertainty error differential equations is concluded. The position error of satellite navigation system is analyzed with the principle of GNSS receiver.(2)The strap-down inertial navigation mathematics platform is established based on the basic navigation equation. Digital recursive algorithm of strap-down inertial navigation system and the system error model are analyzed. Calculation period of navigation parameters are divided. High precision attitude updating method is studied to calculate attitude angle, and optimized method to improve solution precision of position is investigated.(3) The standard Kalman filter and federated Kalman filter algorithm are established for MSINS/GNSS loosely coupled navigation mode. The simulation testified Standard Kalman filter capable of improving the precision of system efficiently. State identification law via detecting the output data of MIMU and GPS receiver is put forward to reject bulky, invalid data. A navigation matching strategy is set up to enhance the reliability of system. Federated Kalman filter with multi-level fault-tolerance mechanism are proposed, which improves capability of fault diagnosis and enhances the reliability of system.(4)Simulation analysis is conducted for engineering practical application.The simulation verified the navigation matching strategy of standard Kalman filter and the multi-level fault tolerance mechanism of federated Kalman filter. The simulation results indicates the precision and reliability of system raised, and provides theoretical basis for system design.