Research On Missile-borne Strapdown Inertial/satellite Integrated Navigation Technology

With the development of modern military attack and defense technology,precision strike weapons play a vital role in modern warfare.Cruise missile,as a precision strike weapon,its navigation system has a direct impact on the final strike accuracy.At present,it is difficult to achieve the requirements of high precision navigation and precise guidance for medium and long range cruise missiles by using a single navigation mode in the field of aeronautics and astronautics.For this reason,strapdown inertial/satellite-based missile integrated navigation system has become the current and future development direction.For cruise missiles to accurately complete the mission of attacking and destroying strategic key points in complex environments,the related technologies of integrated navigation under launch inertial system are studied in this paper.The main contents include:(1)The principle of strapdown inertial navigation system in launch inertial system is introduced in detail,including the definition of each coordinate system and the conversion relationship between them,the initial alignment method,updating method of the attitude,velocity and position for strapdown inertial navigation solution.(2)The mathematical model of strapdown inertial/satellite loose combination in the launch inertial system is derived,and the discrete standard Kalman filter for strapdown inertial/satellite is designed.Based on this,an adaptive Kalman filter is introduced.Finally,the accuracy of the algorithm is verified on the digital simulation platform.(3)Aiming at the flight characteristics of a certain type of cruise missile with high dynamics and strong maneuver,a fault-tolerant design based on Kalman filter is presented,including the selection of the correction threshold in the Kalman filter,the judgment and treatment of the filter divergence,information from inertial and satellite subsystems.(4)In order to quickly configure multiple sensors in complex environment in the future,a data fusion method based on factor graph is studied based on strapdown inertial/satellite.The feasibility of the fusion algorithm is verified by digital simulation.(5)The integrated navigation system is introduced based on the TMS320C6713 hardware platform,and the overall scheme of the software design and the detailed introduction of each module are given.The specific scheme of car navigation test is designed.The correctness and navigation performance of the integrated navigation process under the whole launch and flight flow are verified by the sports car experiment,and the correctness and validity of the fault-tolerant processing methods for satellite data are also verified.