The Onboard SINS / GNSS Integrated Navigation System

With the development of modern military offensive and defensive technology, regional war increasingly reflects the characteristics of high technology and high strength. To improve the penetration capability and precise strike ability, the guidance weapon systems like missile have to pay more attention to characteristics of high accuracy and high dynamic while battlefield defense technology develops rapidly. As the "eyes" of guidance weapons involved in this paper, the performance of the missile-borne SINS/GNSS integrated navigation system directly affects the operational effectiveness of missile. Therefore, it’s quite essential to research the key technologies and design of missile-borne integrated navigation system under high dynamic condition.Aimed at improving the performance of Satellite/Inertial integrated navigation system under high dynamic condition, this study researchs and designs a SINS/GNSS integrated navigation system. The research contents mainly include:(1) It studies on related principles of strapdown inertial navigation, including the system programming structure, the calculating algorithm (such as rotation vector algorithm of attitude updating) and so on. An improved position updating algorithm for high dynamic application is also proposed.(2) It researchs the SINS/GNSS loosely coupled integrated system, in which proposes a step-division filtering method in order to solve the real-time problem. The fault-tolerant navigation systems based on centralized and federated kalman filters are designed which have been proved to be of good fault-tolerant performance.(3) Some key technologies of SINS/GNSS tightly coupled integrated navigation system are studied, such as the initialization method of system, the filter design, the implementation method of system’s dimension variation. A compensation method of time-lag error of communication is proposed. All the system designs are evaluated and verified by simulation tests on the visible simulation platform.(4) According to the hardware platform, several verification test schemes are designed and the error sources are analyzed in detail. The correctness and actual performance of system design are verified by series of experiments at last.