Algorithm Analysis And Test Research For Strapdown INSns/GPS Integrated Navigation System On Missile

Inertial navigation system(INS, abbreviated INS below) is an autonomous navigation system that is not to rely on external information and also not to radiate energy outward. The basic working principle of INS is to measure the acceleration and angular rate of carrier based on Newton's laws of mechanics in the inertial frame of reference, and then transfer the integration of measured acceleration and angular rate for the time into the navigation frame of reference, obtaining the information of velocity, attitude angular and position in the navigation frame of reference. For the absence of external reference, the calculation error of system will be accumulated with the time. However, the GPS will can help the INS to eliminate the accumulated error, which forms the integrated navigation system of INS/GPS. For the single navigation system, the accuracy of INS/GPS gets much promoted. As a result, INS/GPS is widely applied in all kinds of aircrafts.The article has calculated the 2D and 3D simulation trajectory based on the design requirement of the small precision guided missile, based on which, research and design of INS/GPS has been done applied to this missile. Design of INS/GPS contains two aspects, hardware and software algorithm. In the aspect of hardware, performance inde x of hardware has been ascertained, and hardware models have been selected according to design requirement of the missile. On the other hand, research and a nalysis has been done on INS algorithm, GPS algorithm and SINS/GPS algorithm. What's more, recurrence algorithm of Kalman filtering has been derived in detail applied SINS/GPS, which is used to filter raw data. According to analysis and comparison, the designed system make use of quartz tuning fork gyroscope and quartz vibrating bea m accelerometer that is sensitive to the inertia, consisting of Micro-Electro-Mechanical System(MEMS), to output of the original data. Through transformation of specific force on strapdown platform, calculation of attitude matrix, filtering noise of original data by Kalman filtering, the information of velocity, attitude angular and position will be get by navigation computer. Finally,rotating floor experiment,static trial and dynamic test o n car and have been done on calibration of inertial device and accuracy verification comparison, which has demonstrated that the designed SINS/GPS meets the requirements of the navigation system and control system of the missile.