Aerospace vehicle combined navigation robust filtering method based on launching inertia coordinate system
An inertial coordinate system and a technology for aerospace vehicles, which are applied in the field of robust filtering for integrated navigation of aerospace vehicles, can solve problems such as difficulty in obtaining an accurate model of the navigation system, limitation of Kalman filter filtering performance, and complex flight environment.
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[0053] 1. Establish a solution model for the inertial navigation system in the launch inertial coordinate system
[0054] (1.1) Velocity calculation model in launching inertial system
[0055] Coordinate system definition: e system-earth coordinate system; i system-geocentric inertial coordinate system; l system-launching inertial coordinate system; b system-carrier coordinate system (front upper right); g system-geographic coordinate system
[0056] In the launching inertial coordinate system, the velocity calculation model of the carrier is:
[0057] v · l = C b l · f b + C i l · G i - - - ( 1 )
[0058] Where v l Is the speed of the aircraft relative to the launching inertial system, Is the vehicle speed v l The first derivative of; f b Is the specific force output by the accelerometer; G i It is the earth's gravitation in the inertial coordinate system. Because the earth is a non-ideal sphere, the geological structure...
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