Reasearch On Collaborative Location And Passive Location For Missle Formation

The integrated navigation system of strap-down inertial navigation aided by radar is proposed to resolve the problem of autonomous navigation in the cruise section and the passive location of target by the azimuth and elevation angles in the terminal phase is presented in this dissertation in the study background of missile formation for collaborative operation.First of all, since strap-down inertial navigation is the main component of the integrated navigation system, the principal of strap-down inertial navigation is introduced and the mathematical model of strap-down inertial navigation is established according to Newtonian mechanics law and angular velocity superposition theorem. We also analyze the influence on navigation performance in consideration of sampling error, gyroscope drift, accelerometer error and initial alignment errors respectively.And then as the precision of single strap-down inertial navigation become worse over time, we study a collaborative localization method which utilizes the Doppler radar measurements and the leader's precise navigation information to compensate the navigation error of SINS. This algorithm is based on extended Kalman filter, which take gyroscope bias drift and accelerometer bias error as the internal state, and the Doppler radar measurements as observation. The simulation result shows that this method can improve the navigation accuracy.At last the passive location of the ground fixed target is explained in details. By incorporating the leader's precise navigation information with the azimuth and elevation angles measured by the infrared detector, we use extended Kalman filter to estimate the position of the ground fixed target. The relationship between location error and the instrumental precision is also analyzed by numerical simulation.