BDII-SINS Integrated Navigation In The Application Of A Certain Type Of Missile

BeiDou(BD) satellite navigation system is an independent satellite navigation system designed by China. Now, BD-I system is already mature. BD-II system is under developing and has been able to cover the Asia Pacific and its surrounding area and can provide accurate navigation service. The successful establishment of the BD satellite navigation system has the profound influence for our country to consolidate national defense, protect the safety of surrounding areasandpromote the scientific researches.Inertial navigation systemhas been developed for a long time, the technology has been mature. Due to its autonomy, hidden and other significant advantages,the inertial navigation system has been widely used in the field of military navigation.But because of its technical shortcomings, the error of the inertial navigation system will accumulate over time.The organic combination of the satellite navigation system and inertial navigation system can effectively play their respective advantages, and provide more efficient navigation services.Based on the combination of BD-II and the strapdown inertial navigation system(SINS), this paper focus on researches as follows:1. Studied the working principle of the BD satellite navigation system and SINS, deduces the solving method of attitude angle, position and velocity of SINS, deduces the error model, error equations and makes error analysis. Studiedthe filtering methods of the integrated navigation system, including Kalman filtering, extended Kalman filter, unscented Kalman filter and particle filter, analyzes the advantages and disadvantages of various filtering methods.2. Designed the combination system of BD-II and SINS.Analyzed the features and ways of combination of GNSS / SINS navigation system. Carried out the system design of loose combination and tight combination of BD-II/SINS which based on combination modeof velocity, position and combination modeof pseudorange, pseudo range rate.3. Designed the BD-II/SINS simulator and verify the effect of the integrated navigation. By using the mathematical model of integrated navigation, simulators were designed. Simulation results show that the BD-II/SINS integrated navigation has higher precisioncompared with single navigation system.