Design And Simulation Of SINS/GPS Integrated Navigation Algorithm Based On Dynamic Alignment Of The Rolling Angle Of The Projectile

Under the background of increasing accuracy and reliability of dynamic carrier target tracking,the accuracy and reliability of traditional single sensor navigation equipment have been completely unable to meet the needs of modern ships and weapons,so there are a variety of sensor integrated navigation.INS(Inertial Navigation System)and GPS(Global Positioning System)are the most mainstream navigation methods in navigation,the two advantages complement each other and irreplaceable.INS/GPS integrated navigation has become a hot-spot in integrated navigation,especially in the field of guided missile guidance,which not only make up for the deficiencies of a single navigation equipment but also play their own unique advantages.For the missile guidance,the roll angle's measurement accuracy of rolling missile requirements is higher,otherwise it will have a greater coupling effect of pitch angle and yaw angle,it is serious impact on the accuracy of missile attack.Therefore,how to solve the problem of rolling initial alignment of INS/GPS integrated navigation and how to overcome its rolling attitude angle accumulation error is the key to whether INS/GPS integrated navigation technology can be used in missile.This thesis firstly introduces the research status and development prospects of the integrated navigation technology at home and abroad,the inertial navigation system,integrated navigation Calman filter design,geomagnetic field and other related theories are studied.Aiming at the practical application background of the precision guided weapon,a SINS/GPS integrated navigation algorithm based on the dynamic alignment of the roll angle of the missile is proposed.Based on the error analysis and error modeling of the inertial navigation system,the mathematical model of the integrated navigation system is established and the closed loop feedback system of the Calman filter is designed.In order to verify the performance of the designed integrated navigation algorithm,the simulation of the flight trajectory and field car tes was carried.The results show that the SINS/GPS integrated navigation algorithm designed in this thesis has good navigation performance and can meet the requirements of the project.