Research On High Dynamic Inertial/satellite Integrated Navigation Technology

With the development of military technology,precision strike weapons play a decisive role in modern warfare,and the key for realizing precision strike is navigation system.Navigation system with high-precision and high-reliability,providing high precision motion parameters for carriers such as ballistic missiles,is the basis for tactical and strategic missiles to achieve the aim of precision strike.In traditional navigation algorithm based on geographic coordinate system,the pitch angle of the carriers is limited to the range from-90 degree to 90 degree,but the ballistic missiles usually have relatively big shot height,and the pitch angle may exceed the range in flight which could lead to singular values in navigation calculation.Therefore,it is necessary to study the SINS/GNSS integrated navigation algorithm based on launch inertial coordinate system.Under the background of developing the navigation system of a certain ballistic missile,the purpose of this paper is to improve the accuracy and reliability of the SINS/GNSS integrated navigation system based on launch inertial coordinate system.The main contents are as follows:(1)Research on the basic principles of strapdown inertial navigation system base on launch inertial coordinate system,including SINS programming structure,attitude calculation algorithm,velocity calculation algorithm,position calculation algorithm and initial alignment.(2)Loosely-Coupled SINS/GNSS integrated integration algorithm based on launch inertial coordinate system is researched,the error propagation model of SINS subsystem is deduced,the discrete Kalman filter for combination is designed,and the error correction method is given.(3)Aiming at the high dynamic characteristics of ballistic missile,a multi-level fault-tolerant integrated algorithm is designed.(4)The model of tightly-coupled integration navigation system is studied,the state equation and observation equation of the integration is gived,in addition,A kind of AUKF filter algorithm is designed.(5)The hardware base on the eight-core DSP TMS320C6678 design is given,and also the software design is given.(6)Aiming at the characteristics of the ballistic missile studied,a complete car test scheme was designed,and the field tests was carried out according to the scheme.And then a detailed comparison was made between the navigation output of the high precision diffduierential GPS receiver and the designed navigation system.The results shows that the navigation algorithm designed in this paper has high accuracy and the fault-tolerant performance is stable and reliable.