An Inertial Navigation Error Online Compensation Method Applied to Ballistic Missile

Abstract

The invention discloses an inertial navigation error on-line compensation method for ballistic missile. The method comprises the following steps: S1, collecting pulse count output from an inertial measurement unit after the missile is in high altitude, and calculating the apparent acceleration of the missile; S2, calculating zero error of an apparent accelerometer, and proportional error, initial leveling error and targeting error of a longitudinal accelerometer; S3, collecting the current apparent acceleration and quaternion, and calculating the position and velocity of a first group of missile; S4, correcting the current apparent acceleration by using the zero error and proportional error, and correcting the current quaternion by using the initial leveling error and targeting error; and calculating the position and velocity of a second group of missile by using the corrected apparent acceleration and quaternion; S5, calculating the navigation position error and velocity error; and S6, correcting the position and velocity of the missile at every moment, so as to complete inertial navigation error on-line compensation. The method of the invention can accomplish the inertial navigation error on-line compensation without changing the index of the missile inertial measurement unit, and improve the precision of missile inertial navigation.

Description

technical field [0001] The invention belongs to the technical field of on-line identification of inertial group errors of missiles, and more particularly relates to an on-line compensation method of inertial navigation errors applied to ballistic missiles. Background technique [0002] The navigation system of the missile is an important part of the missile control system, and the navigation accuracy directly affects the performance of the control system. Ballistic missiles generally use an inertial navigation / satellite navigation integrated navigation system. When the satellite navigation system is effective, the accuracy of the integrated navigation system is determined by the satellite navigation system and has nothing to do with inertial navigation. However, the satellite navigation system relies on external satellite signals and is unstable. The inertial navigation system does not rely on any external signals and is a completely independent navigation system with high...

AI Technical Summary

Problems solved by technology

The inertial group calibration parameters all have errors

With the increase of the range of the current ballistic missile, the working time of the inertial navigation system is getting longer and longer, and the accumulated navigation error is also getting bigger and bigger. The accuracy of the existing inertial group is difficult to meet the requirements of the control system for navigation accuracy.

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