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A Missile Inertial/Satellite Tight Integrated Navigation Method

A navigation method and tightly combined technology, applied in the field of missile-borne inertial/satellite tight combined navigation, can solve the problems of less than four satellites and reduced navigation accuracy, and achieve the goal of eliminating time correlation, improving navigation accuracy, and improving fault tolerance performance. Effect

Active Publication Date: 2017-01-25
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0003] At present, our country still mainly uses loose combination experiments on the main combat aircraft, but the number of satellites received by the GNSS receiver is easily less than four when the carrier is in high dynamic flight, receiver signal occlusion, etc. At this time, the loose combination system It will work in the state of pure inertial navigation, and the navigation accuracy will decrease with time

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  • A Missile Inertial/Satellite Tight Integrated Navigation Method
  • A Missile Inertial/Satellite Tight Integrated Navigation Method
  • A Missile Inertial/Satellite Tight Integrated Navigation Method

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Embodiment Construction

[0019] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0020] combine figure 1 , the missile-borne inertial / satellite tight integrated navigation method of the present invention, the steps are as follows:

[0021] Step 1, SINS initial alignment, initialization speed, position, as follows:

[0022] The transfer and alignment technology of the moving base is adopted to realize the rapid and precise initialization of attitude, position and speed.

[0023] Step 2, the navigation computer receives GNSS data and SINS data respectively, as follows:

[0024] (2.1) Navigation computer receives GNSS data

[0025] In a compact integrated navigation system, the GNSS receiver outputs information of multiple satellites, each satellite information is output through a channel, and the information of each channel includes: channel number, satellite number, satellite working status, universal time, rece...

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Abstract

The invention discloses a missile-borne inertia / satellite tight combination navigation method. The method utilizes pseudo-range, pseudo-range rate information and inertial navigation output by a GNSS to calculate relative pseudo-range and pseudo-range rate difference of a satellite, filtering is carried out and the current system is corrected according to the filtering results. The method mainly comprises the following steps: carrying out SINS initialization; carrying out SINS navigation calculation; carrying out satellite altitude angle and azimuth angle calculation; carrying out navigational satellite selection; carrying out pseudorange measuring error compensation of the navigational satellite; carrying out calculation on pseudo-range and pseudo-range rate of a carrier with respect to each navigational satellite; carrying out system state judgment and navigation strategy selection; carrying out system state equation construction and system measurement equation construction; and carrying out filtering calculation, and for hysteresis error due to communication delay, correcting the system through an error compensation method based on state transition according to the filtering results. The method can realize inertia / satellite-based pseudo-range and pseudo-range rate seamless combination navigation; navigation accuracy and adaptability to complex environment are improved; and the application prospect is wide.

Description

technical field [0001] The invention relates to the technical field of integrated navigation, in particular to a missile-borne inertial / satellite tight integrated navigation method. Background technique [0002] Combining the advantages of satellite navigation and inertial navigation, the satellite / inertial integrated navigation system has the characteristics of high positioning accuracy and strong stability, so it is widely used in military and civilian fields. There are many modes of integrated navigation, which are mainly divided into three categories: loose combination, tight combination and deep combination: the loose combination method directly uses the Global Navigation Satellite System (GNSS, Global Navigation Satellite System) and the Strapdown Inertial Navigation System (SINS, Strapdown Inertial Navigation System). ) position and velocity information output by the receiver; the core of the deep combination method is to use the satellite / inertial combined navigation...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/47
CPCG01C21/165G01S19/49
Inventor 陈帅孔维一屈新芬蒋长辉赵琛常耀伟王磊杰金磊钟润伍余威朱闪
Owner NANJING UNIV OF SCI & TECH
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