A system and method for implementing integrated navigation for launch vehicles

Abstract

This invention discloses a launch vehicle integrated navigation system and method. The system includes: a fiber optic inertial navigation system (INS); a satellite navigation receiver; and a flight control unit (FCU), comprising a first core and a second core. After power-on, the FCU runs an embedded real-time operating system. The first core of the FCU includes a created INS reception task and a launch INS navigation task. The second core includes a created satellite positioning data reception task and an integrated navigation calculation task. By allocating INS data reception and launch INS navigation calculation to the first core, and satellite positioning data reception and integrated navigation correction calculation to the second core, the launch INS navigation task can receive navigation velocity and position corrections from the second core in real time for closed-loop correction. This achieves a dual-core parallel data acquisition and fusion algorithm. This invention significantly enhances the navigation continuity and reliability of launch vehicles in highly dynamic and complex environments.

Description

Technical Field

[0001] This invention relates to the field of spacecraft navigation technology, and more specifically to a launch vehicle integrated navigation system and method. Background Technology

[0002] As the core tool for entering space, launch vehicles have extremely high requirements for the accuracy, reliability, and real-time performance of navigation systems.

[0003] Integrated navigation technology is a comprehensive navigation system that integrates multiple navigation devices through monitors and computers. Existing integrated navigation systems for launch vehicles are mostly developed based on bare-metal architectures, making portability difficult. Furthermore, Kalman filtering calculations are complex, necessitating the addition of independent processors to meet real-time requirements, resulting in significant communication delays between multiple processors, high costs, and low reliability.

[0004] The information in the background section is merely intended to illustrate the general background of the invention and should not be construed as an admission or implication in any way that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] To address at least some of the technical problems in the prior art, the present invention provides a launch vehicle integrated navigation system and method. Specifically, the present invention includes the following:

[0006] A first aspect of the present invention provides a launch vehicle integrated navigation system, the launch vehicle integrated navigation system comprising: Fiber optic inertial navigation system; Satellite navigation receiver; The flight control unit includes a first core and a second core; after power-on, the flight control unit runs an embedded real-time operating system. The first core of the flight control system includes a created inertial group receiving task and a transmitter-inertial navigation task; wherein, the inertial group receiving task is used to receive first inertial group measurement data from the fiber optic inertial group; the transmitter-inertial navigation task is used to receive second inertial group measurement data from the inertial group receiving task, and perform transmitter-inertial navigation calculations based on the second inertial group measurement data to obtain transmitter-inertial navigation speed and / or position information; The second core of the flight control system includes a satellite positioning data receiving task and a combined navigation calculation task; wherein the satellite positioning data receiving task is used to receive first satellite positioning data from the satellite navigation receiver; the combined navigation calculation task is used to receive second satellite positioning data from the satellite positioning data receiving task, and receive the inertial navigation speed and / or position information from the inertial navigation system task, and calculate navigation speed correction and / or position correction based on the second satellite positioning data and the inertial navigation speed and / or position information; The inertial navigation task receives the navigation speed correction and / or position correction from the integrated navigation calculation task, and performs navigation speed and / or position correction for the launch vehicle based on the navigation speed correction and / or position correction.

[0007] In some implementations, the integrated navigation calculation task is performed based on the second satellite positioning data and the inertial navigation speed and / or position information, and Kalman filtering is performed to obtain the navigation speed correction and / or position correction.

[0008] In some implementations, the inertial navigation task performs inertial navigation calculations based on initial information and the second inertial group measurement data to obtain the inertial navigation speed and / or position information.

[0009] In some implementations, the inertial group receiving task is used to verify and unpack the first inertial group measurement data, and extract the inertial group pulse increment to obtain the second inertial group measurement data; and / or, The satellite positioning data receiving task is used to verify and unpack the first satellite positioning data to obtain the second satellite positioning data.

[0010] In some implementations, the satellite positioning data receiving task is used to verify and unpack the first satellite positioning data, and convert the first satellite positioning data in the WGS84 coordinate system into data in the launch inertial coordinate system to obtain the second satellite positioning data.

[0011] In some implementations, the inertial group receiving task of the first core of the flight control assembly communicates with the fiber optic inertial group via RS422 to obtain the first inertial group measurement data; The second core of the flight control unit communicates with the satellite navigation receiver via RS422 to obtain the first satellite positioning data.

[0012] In some implementations, the second core of the flight control system further includes a second pulse interrupt function after creation; the satellite navigation receiver outputs a second pulse, and the second pulse interrupt function receives the time when the second pulse is generated, providing a time reference for the integrated navigation task to perform integrated navigation calculations; The integrated navigation task calculates the navigation speed correction and / or position correction based on the second satellite positioning data, the inertial navigation speed and / or position information, and the second pulse time.

[0013] A second aspect of the present invention provides a method for implementing integrated navigation of a launch vehicle, the method comprising: Configure a flight control assembly, which includes a first core and a second core, and the flight control assembly runs an embedded real-time operating system after power-on; In the first core of the flight control system, an inertial navigation reception task and an inertial navigation transmission task are created. The inertial group receiving task receives first inertial group measurement data from the fiber optic inertial group and processes it to obtain second inertial group measurement data. The inertial navigation task receives the second inertial group measurement data from the inertial group receiving task, and performs inertial navigation calculations based on the second inertial group measurement data to obtain inertial navigation speed and / or position information. In the second core of the flight control system, a satellite positioning data receiving task and a combined navigation calculation task are created. The satellite positioning data receiving task receives first satellite positioning data from a satellite navigation receiver and processes it to obtain second satellite positioning data. Through the integrated navigation calculation task, the second satellite positioning data is received from the satellite positioning data receiving task, and the inertial navigation speed and / or position information is received from the inertial navigation task. Through the integrated navigation calculation task, based on the second satellite positioning data and the inertial navigation speed and / or position information, the navigation speed correction and / or position correction are calculated. The launch vehicle receives the navigation speed correction and / or position correction from the integrated navigation calculation task through the inertial navigation task, and corrects the navigation speed and / or position of the launch vehicle based on the navigation speed correction and / or position correction to achieve integrated navigation.

[0014] In some implementations, the second core of the flight control assembly further includes a second pulse interrupt function after creation; the method further includes: receiving the second pulse signal output by the satellite navigation receiver through the second pulse interrupt function, generating a second pulse time to provide a time reference for the navigation calculation of the integrated navigation calculation task; and calculating the navigation speed correction and / or position correction amount by the integrated navigation calculation task based on the second satellite positioning data, the inertial navigation speed and / or position information, and the second pulse time.

[0015] In some implementations, the inertial navigation speed and / or position information is obtained by performing inertial navigation calculations based on initial information and the second inertial group measurement data through the inertial navigation task.

[0016] An embodiment of the present invention provides a launch vehicle integrated navigation system comprising: a fiber optic inertial navigation system (INS); a satellite navigation receiver; and a flight control unit (FCU), which includes a first core and a second core. Upon power-up, the FCU runs an embedded real-time operating system. The first core of the FCU includes a created INS receiving task and a launch-inertial navigation task. The INS receiving task receives first INS measurement data from the fiber optic INS. The launch-inertial navigation task receives second INS measurement data from the INS receiving task and performs launch-inertial navigation calculations based on the second INS measurement data to obtain launch-inertial navigation velocity and / or position information. The second core of the FCU includes a created satellite positioning data receiving task. The system includes a combined navigation calculation task; wherein the satellite positioning data receiving task receives first satellite positioning data from the satellite navigation receiver; the combined navigation calculation task receives second satellite positioning data from the satellite positioning data receiving task and receives the launch vehicle inertial navigation speed and / or position information from the launch vehicle inertial navigation task, and calculates navigation speed correction and / or position correction based on the second satellite positioning data and the launch vehicle inertial navigation speed and / or position information; the launch vehicle inertial navigation task receives the navigation speed correction and / or position correction from the combined navigation calculation task, and performs launch vehicle navigation speed and / or position correction based on the navigation speed correction and / or position correction. The dual-core architecture and embedded real-time operating system of this flight control system allocate inertial data reception and launch-inertial navigation calculation to the first core, and satellite positioning data reception and integrated navigation correction calculation to the second core. This enables the launch-inertial navigation task to receive navigation velocity and position corrections from the second core in real time for closed-loop correction. This achieves parallel data acquisition and fusion calculation between the two cores, significantly improving the real-time performance of launch vehicle navigation calculation and system response speed. At the same time, the closed-loop correction of the inertial / satellite combination effectively suppresses the cumulative error of inertial devices and navigation divergence during satellite signal interruptions, ensuring centimeter-level positioning accuracy and real-time parameter calibration capability in loosely coupled mode. Ultimately, this enhances the navigation continuity and reliability of the launch vehicle in highly dynamic and complex environments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the framework of a launch vehicle integrated navigation system according to an embodiment of the present invention; Figure 2 A schematic diagram of a launch vehicle integrated navigation system according to another embodiment of the present invention; Figure 3 This is a flowchart of a launch vehicle integrated navigation implementation method according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the spirit of the contents disclosed in the present invention will be clearly explained below with reference to the accompanying drawings and detailed description. After understanding the embodiments of the present invention, any person skilled in the art can make changes and modifications based on the technology taught in the present invention without departing from the spirit and scope of the present invention.

[0019] The illustrative embodiments and descriptions of the present invention are used to explain the invention, but are not intended to limit the invention. Furthermore, elements / components using the same or similar reference numerals in the drawings and embodiments are used to represent the same or similar parts.

[0020] The terms "first," "second," etc., used in this document are not intended to specifically refer to order or sequence, nor are they intended to limit the invention. They are merely used to distinguish elements or operations described using the same technical terms.

[0021] The directional terms used in this article, such as up, down, left, right, front, or back, are for reference only in the accompanying drawings. Therefore, the use of directional terms is for illustrative purposes and not to limit the scope of this work.

[0022] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0023] The term "and / or" as used herein includes any or all of the things mentioned.

[0024] The term "multiple" in this article includes "two" and "more than two"; the term "multiple groups" in this article includes "two groups" and "more than two groups".

[0025] The terms "approximately," "about," etc., used herein are intended to modify any quantity or error that may vary slightly, but these slight variations or errors do not change the essence of the quantity or error. Generally, the range of slight variations or errors modified by such terms may be 20% in some embodiments, 10% in others, 5% in still others, or other values. Those skilled in the art should understand that the aforementioned values ​​can be adjusted according to actual needs and are not limited thereto.

[0026] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0027] When expressions such as "at least one of A, B, and C" are used, they should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). When expressions such as "at least one of A, B, or C" are used, they should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). A person skilled in the art should also understand that any conjunction and / or phrase that substantially arbitrarily indicates two or more optional items, whether in the specification, claims, or drawings, should be understood to indicate the possibility of including one of these items, either of these items, or both items. For example, the phrase “A or B” should be understood as including the possibility of “A” or “B”, or “A and B”.

[0028] Integrated navigation refers to a comprehensive navigation system that integrates multiple navigation devices through monitors and computers. It typically uses an inertial navigation system as its core, combined with subsystems such as the Global Positioning System (GPS) and the Global Navigation Satellite System (GNSS) to achieve complementary performance. It utilizes optimal estimation methods such as Kalman filtering to fuse data from various subsystems, and improves positioning accuracy and reliability through redundant measurements and error calibration. It achieves centimeter-level positioning accuracy through multi-sensor data collaboration, supports automatic switching between inertial and satellite navigation, and can compensate for errors in inertial devices and suppress the impact of satellite signal interruptions. Employing a loosely coupled mode, it can feed back correction parameters to the subsystems for real-time calibration.

[0029] However, the aforementioned existing technologies have the following shortcomings: 1) Bare-metal development is difficult to port and has high development complexity; 2) Integrated navigation technology requires the use of Kalman filtering algorithm. Kalman filtering calculation is complex and time-consuming. Since the navigation, guidance and attitude control calculations of launch vehicles have strict time requirements and need to output control commands as soon as possible, in order to meet the real-time requirements of the control system, a separate processor is needed to perform integrated navigation calculations. Communication between multiple processors involves hardware circuit connections, resulting in large communication delays, high costs and low reliability.

[0030] To address the aforementioned technical problems, embodiments of the present invention provide a launch vehicle integrated navigation system, such as... Figure 1 As shown, the launch vehicle's integrated navigation system includes: The system includes a fiber optic inertial navigation system (INS); a satellite navigation receiver; and a flight control unit (FCU), comprising a first core and a second core. Upon power-up, the FCU runs an embedded real-time operating system. For example, a high-performance dual-core processor from Xilinx can be selected as the processor. Using multi-core processors from other manufacturers in conjunction with this optional embodiment can also achieve the same effect and is within the scope of protection of this invention.

[0031] The first core of the flight control system includes a newly created inertial group (INS) receiving task and a transmit-inertial navigation (TINa) task. The INS receiving task receives first INS measurement data from the fiber optic INS, while the TNa task receives second INS measurement data from the INS receiving task and performs TNa calculations based on the second INS measurement data to obtain TNa velocity and / or position information. In a more specific embodiment, the INS receiving task verifies and unpacks the first INS measurement data and extracts the INS pulse increments to obtain the second INS measurement data. Data verification and unpacking can be implemented using existing conventional technologies, and this optional embodiment will not elaborate further.

[0032] The second core of the aforementioned flight control system includes a satellite positioning data receiving task and a combined navigation calculation task. The satellite positioning data receiving task receives first satellite positioning data from a satellite navigation receiver, while the combined navigation calculation task receives second satellite positioning data from the satellite positioning data receiving task and receives inertial navigation speed and / or position information from the inertial navigation system task. Based on the second satellite positioning data and the inertial navigation speed and / or position information, the task calculates navigation speed corrections and / or position corrections. In a more specific embodiment, the satellite positioning data receiving task verifies and unpacks the first satellite positioning data to obtain the second satellite positioning data. Data verification and unpacking can be implemented using existing conventional technologies, and this optional embodiment will not elaborate further.

[0033] The aforementioned inertial navigation task receives navigation velocity correction and / or position correction from the integrated navigation calculation task, and performs navigation velocity and / or position correction for the launch vehicle based on these corrections. The same effect can also be achieved by using semaphores or message queues for inter-task communication in conjunction with this optional embodiment, and is also within the protection scope of this optional embodiment.

[0034] A real-time operating system (RTOS) is an operating system that can accept and process external events or data at a sufficiently fast speed. The results of this processing can then be used to control the production process or respond quickly to the processing system within a specified timeframe. It can allocate all available resources to complete real-time tasks and control all real-time tasks to run in a coordinated manner. Its main characteristics are timely response and high reliability. Using an embedded real-time operating system for software development makes software portability convenient and facilitates development and maintenance.

[0035] A multi-core processor integrates two or more complete computing engines (cores) into a single processor. This allows the processor to support multiple processors on the system bus, with all bus control and command signals provided by the bus controller. The development of multi-core technology stemmed from engineers' realization that simply increasing the speed of a single-core chip would generate excessive heat without providing a corresponding performance improvement, as was the case with previous processors. Even without heat issues, their cost-effectiveness was unacceptable; slightly faster processors were significantly more expensive. Adopting a multi-core single-processor reduces product costs, improves product reliability, reduces communication latency, and enhances navigation accuracy.

[0036] By employing the dual-core architecture and embedded real-time operating system of the aforementioned flight control system, inertial data reception and launch-inertial navigation calculations are distributed to the first core, while satellite positioning data reception and integrated navigation correction calculations are distributed to the second core. This enables the launch-inertial navigation task to receive navigation velocity and position corrections from the second core in real time for closed-loop correction. This achieves parallel data acquisition and fusion calculations across both cores, significantly improving the real-time performance of launch vehicle navigation calculations and system response speed. Simultaneously, the closed-loop correction of the inertial / satellite combination effectively suppresses accumulated errors in inertial devices and navigation divergence during satellite signal interruptions, ensuring centimeter-level positioning accuracy and real-time parameter calibration capabilities in loosely coupled mode. Ultimately, this enhances the navigation continuity and reliability of the launch vehicle in highly dynamic and complex environments.

[0037] In some optional embodiments, the aforementioned integrated navigation calculation task is performed based on second satellite positioning data and inertial navigation velocity and / or position information, and Kalman filtering is applied to obtain the navigation velocity correction and / or position correction. This optional embodiment relies on second satellite positioning data combined with the navigation velocity and position information output by the inertial navigation system to perform integrated navigation calculation, and then completes data fusion optimization through Kalman filtering. This can effectively reduce the error interference caused by a single navigation data source, accurately output velocity and position corrections, significantly improve the accuracy, continuity, and anti-interference capability of navigation and positioning results, and ensure stable and reliable navigation output under complex working conditions.

[0038] In some optional embodiments, the aforementioned inertial navigation task is performed based on initial information and second inertial group (INS) measurement data to obtain the aforementioned inertial navigation velocity and / or position information. The initial information refers to the initial values ​​used for the inertial navigation calculation, such as the identity matrix, launch point location, Earth's gravity, and many inherent parameters like the relative installation positions of the INS and satellite navigation receiver. By relying on initial information and second INS measurement data to complete the inertial navigation calculation in this optional embodiment, the corresponding navigation velocity and position information can be calculated quickly and accurately. The data output has strong real-time performance and can provide stable and reliable basic raw navigation data for subsequent integrated navigation fusion calculations, ensuring the smooth operation of the overall navigation calculation process.

[0039] In some optional embodiments, the first core of the flight control assembly communicates with the fiber optic inertial navigation system (INS) via RS422 to obtain the first INS measurement data; the second core of the flight control assembly communicates with the satellite navigation receiver via RS422 to obtain the first satellite positioning data. Using dual cores to independently handle the reception of INS and satellite data avoids communication congestion and data delays that may occur with single-core serial processing. Simultaneously, the RS422 interface has strong anti-interference capabilities and long-distance transmission characteristics, ensuring real-time and reliable acquisition of high-frequency, high-precision measurement data in complex electromagnetic environments, providing a solid data input foundation for subsequent synchronous calculation and low-latency fusion of navigation tasks. Using RS232, RS485, or CAN bus communication with the INS or satellite navigation receiver in conjunction with this optional embodiment can also achieve the same effect and is also within the protection scope of this invention.

[0040] Figure 2 This is a schematic diagram of a launch vehicle integrated navigation system framework according to another embodiment of the present invention; as shown. Figure 2 As shown, the second core of the flight control system also includes a second pulse interrupt function after creation. The satellite navigation receiver outputs a second pulse, and the second pulse interrupt function receives the second pulse to generate the second pulse time, providing a time reference for the combined navigation task to perform combined navigation calculations. The combined navigation task calculates the above-mentioned navigation speed correction and / or position correction based on the second satellite positioning data, the inertial navigation speed and / or position information, and the second pulse time.

[0041] In some optional embodiments, the aforementioned satellite positioning data receiving task is used to verify and unpack the first satellite positioning data, and convert the first satellite positioning data in the WGS84 coordinate system into data in the launch inertial coordinate system to obtain the second satellite positioning data. The verification and unpacking process can eliminate abnormal or erroneous original data, ensuring the integrity and reliability of the satellite positioning information entering the navigation calculation; secondly, this globally universal geocentric coordinate system eliminates the coordinate system differences that may exist between different satellite systems (such as GPS and BeiDou), enabling subsequent launch inertial navigation calculations and integrated navigation filtering to perform data fusion under a unified spatial reference, thereby avoiding errors introduced by coordinate transformation, improving the accuracy of navigation parameter correction and the versatility of the system.

[0042] This invention also provides a method for implementing integrated navigation of a launch vehicle, such as... Figure 3 As shown, the method includes: Step S301: Configure the flight control assembly, which includes a first core and a second core, and the flight control assembly runs an embedded real-time operating system after power-on; Step S302: Create the inertial navigation reception task and the inertial navigation transmission task in the first core of the flight control system; Step S303: Receive the first inertial group measurement data from the fiber optic inertial group through the inertial group receiving task, and process it to obtain the second inertial group measurement data; Step S304: Receive the measurement data of the second inertial group from the inertial group receiving task through the inertial group receiving task, and perform inertial navigation calculation based on the measurement data of the second inertial group to obtain the inertial navigation speed and / or position information. Step S305: Create a satellite positioning data receiving task and a combined navigation calculation task in the second core of the flight control system; Step S306: Receive first satellite positioning data from the satellite navigation receiver through the satellite positioning data receiving task, and process it to obtain second satellite positioning data; Step S307: Through the integrated navigation calculation task, the second satellite positioning data is received from the satellite positioning data receiving task, and the inertial navigation speed and / or position information is received from the inertial navigation task; Step S308: Through the integrated navigation calculation task, based on the second satellite positioning data and the inertial navigation speed and / or position information, calculate the navigation speed correction and / or position correction. Step S309: Receive the navigation velocity correction and / or position correction from the integrated navigation calculation task through the inertial navigation task, and correct the navigation velocity and / or position of the launch vehicle based on the navigation velocity correction and / or position correction to achieve integrated navigation.

[0043] Through the above steps, the dual-core architecture and embedded real-time operating system of the flight control system allocate inertial data reception and launch-inertial navigation calculations to the first core, and satellite positioning data reception and integrated navigation correction calculations to the second core. This enables the launch-inertial navigation task to receive navigation velocity and position corrections from the second core in real time for closed-loop correction. This achieves parallel data acquisition and fusion calculations by both cores, significantly improving the real-time performance of launch vehicle navigation calculations and system response speed. At the same time, the closed-loop correction of the inertial / satellite combination effectively suppresses the cumulative error of inertial devices and navigation divergence during satellite signal interruptions, ensuring centimeter-level positioning accuracy and real-time parameter calibration capability in loosely coupled mode. Ultimately, this enhances the navigation continuity and reliability of the launch vehicle in highly dynamic and complex environments.

[0044] In some implementations, the second core of the flight control system also includes a second pulse interrupt function after creation; the method further includes: receiving the second pulse signal output by the satellite navigation receiver through the second pulse interrupt function, generating a second pulse time to provide a time reference for the navigation calculation of the integrated navigation calculation task; and calculating the navigation speed correction and / or position correction based on the second satellite positioning data, the inertial navigation system navigation speed and / or position information, and the second pulse time by the integrated navigation calculation task.

[0045] In some implementations, the inertial navigation speed and / or position information is obtained by performing inertial navigation calculations based on initial information and the second inertial group measurement data through the inertial navigation task.

[0046] This invention designs a launch vehicle integrated navigation method based on an embedded real-time operating system and a multi-core single processor, which makes software portability convenient, easy to develop and maintain, reduces costs, and improves product reliability.

[0047] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A launch vehicle integrated navigation system, characterized in that, The launch vehicle integrated navigation system includes: Fiber optic inertial navigation system; Satellite navigation receiver; The flight control unit includes a first core and a second core; after power-on, the flight control unit runs an embedded real-time operating system. The first core of the flight control system includes a created inertial group receiving task and a transmitter-inertial navigation task; wherein, the inertial group receiving task is used to receive first inertial group measurement data from the fiber optic inertial group; the transmitter-inertial navigation task is used to receive second inertial group measurement data from the inertial group receiving task, and perform transmitter-inertial navigation calculations based on the second inertial group measurement data to obtain transmitter-inertial navigation speed and / or position information; The second core of the flight control system includes a satellite positioning data receiving task and a combined navigation calculation task; wherein the satellite positioning data receiving task is used to receive first satellite positioning data from the satellite navigation receiver; the combined navigation calculation task is used to receive second satellite positioning data from the satellite positioning data receiving task, and receive the inertial navigation speed and / or position information from the inertial navigation system task, and calculate navigation speed correction and / or position correction based on the second satellite positioning data and the inertial navigation speed and / or position information; The inertial navigation task receives the navigation speed correction and / or position correction from the integrated navigation calculation task, and performs navigation speed and / or position correction for the launch vehicle based on the navigation speed correction and / or position correction.

2. The launch vehicle integrated navigation system according to claim 1, characterized in that, The integrated navigation calculation task is performed based on the second satellite positioning data and the inertial navigation speed and / or position information, and Kalman filtering is performed to obtain the navigation speed correction and / or position correction.

3. The launch vehicle integrated navigation system according to claim 1, characterized in that, The inertial navigation task is based on initial information and the measurement data of the second inertial group to perform inertial navigation calculations to obtain the inertial navigation speed and / or position information.

4. The launch vehicle integrated navigation system according to claim 1, characterized in that, The inertial group receiving task is used to verify and unpack the first inertial group measurement data, and extract the inertial group pulse increment to obtain the second inertial group measurement data; and / or, The satellite positioning data receiving task is used to verify and unpack the first satellite positioning data to obtain the second satellite positioning data.

5. The launch vehicle integrated navigation system according to claim 4, characterized in that, The satellite positioning data receiving task is used to verify and unpack the first satellite positioning data, and convert the first satellite positioning data in the WGS84 coordinate system into data in the launch inertial coordinate system to obtain the second satellite positioning data.

6. The launch vehicle integrated navigation system according to claim 1, characterized in that, The inertial group receiving task of the first core of the flight control assembly communicates with the fiber optic inertial group via RS422 to obtain the measurement data of the first inertial group. The second core of the flight control unit communicates with the satellite navigation receiver via RS422 to obtain the first satellite positioning data.

7. The launch vehicle integrated navigation system according to claim 1, characterized in that, The second core of the flight control system also includes a second pulse interrupt function after creation; the satellite navigation receiver outputs a second pulse, and the second pulse interrupt function receives the second pulse generation time to provide a time reference for the integrated navigation task to perform integrated navigation calculations; The integrated navigation task calculates the navigation speed correction and / or position correction based on the second satellite positioning data, the inertial navigation speed and / or position information, and the second pulse time.

8. A method for implementing integrated navigation in a launch vehicle, characterized in that, The method includes: Configure a flight control assembly, which includes a first core and a second core, and the flight control assembly runs an embedded real-time operating system after power-on; In the first core of the flight control system, an inertial navigation reception task and an inertial navigation transmission task are created. The inertial group receiving task receives first inertial group measurement data from the fiber optic inertial group and processes it to obtain second inertial group measurement data. The inertial navigation task receives the second inertial group measurement data from the inertial group receiving task, and performs inertial navigation calculations based on the second inertial group measurement data to obtain inertial navigation speed and / or position information. In the second core of the flight control system, a satellite positioning data receiving task and a combined navigation calculation task are created. The satellite positioning data receiving task receives first satellite positioning data from a satellite navigation receiver and processes it to obtain second satellite positioning data. Through the integrated navigation calculation task, the second satellite positioning data is received from the satellite positioning data receiving task, and the inertial navigation speed and / or position information is received from the inertial navigation task. Through the integrated navigation calculation task, based on the second satellite positioning data and the inertial navigation speed and / or position information, the navigation speed correction and / or position correction are calculated. The launch vehicle receives the navigation speed correction and / or position correction from the integrated navigation calculation task through the inertial navigation task, and corrects the navigation speed and / or position of the launch vehicle based on the navigation speed correction and / or position correction to achieve integrated navigation.

9. The method for implementing integrated navigation of a launch vehicle according to claim 8, characterized in that, The second core of the flight control system also includes a second pulse interrupt function after creation; the method further includes: receiving the second pulse signal output by the satellite navigation receiver through the second pulse interrupt function, generating a second pulse time to provide a time reference for the navigation calculation of the integrated navigation calculation task; and calculating the navigation speed correction amount and / or position correction amount by the integrated navigation calculation task based on the second satellite positioning data, the inertial navigation speed and / or position information and the second pulse time.

10. The method for implementing integrated navigation of a launch vehicle according to claim 8, characterized in that, The inertial navigation task calculates the inertial navigation speed and / or position information based on the initial information and the measurement data of the second inertial group.

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