Research On Integrated Navigation Method Of High-speed Spinning Flying Bod

The high-speed spinning flying bodies rotate around themselves at high speed during flight and are highly resistant to external errors such as thrust eccentricity and mass eccentricity,and are widely used in many fields such as guided munitions,civil rain and hail control,and space exploration.Due to the inability of a single inertial navigation system to accurately measure the attitude information of a flying body and the high overload during the launch of a high-speed spinning flying body,the navigation system is unable to obtain the initial reference parameters of the flying body at the time of launch.In order to make the navigation system more suitable for the high-speed spin state and high initial velocity operating environment,this paper proposes a staged geomagnetic/satellite/inertial integrated navigation framework for high-speed spinning flying body,constructs a integrated navigation model for high-speed spinning flying bodies,designs an initial alignment scheme and a non-linear filtering algorithm for these objects,and finally achieves accurate navigation parameters for these objects.The details of the study are as follows:(1)The analysis of the motion characteristics of high-speed spinning flying bodies,combined with the working characteristics of inertial measurement systems,satellites,etc.,proposed a phased framework of combined geomagnetic-assisted SINS/GNSS navigation system,based on geomagnetic-assisted real-time measurement of rotational speed as a marker for the start of the inertial measurement system,the use of geomagnetic,nominal trajectory to align the roll angle,pitch angle and yaw angle,respectively,and the satellite to provide the velocity and position information of the flying body after normal signal capture,and designed the initial alignment scheme of the flying body.(2)The integrated navigation filtering algorithm is designed according to the characteristics of the non-linear motion of high-speed spinning flying body,the error equation of the navigation system is derived,the mathematical model of the integrated navigation filtering algorithm is constructed,the extended Kalman filtering algorithm,the adaptive extended Kalman filtering algorithm and the adaptive unscented Kalman filtering algorithm are proposed to estimate the navigation parameters of the flying body,and the simulation results of the three filtering algorithms are verified,and the simulation results show that the adaptive unscented Kalman filtering algorithm is more effective in the application of high-speed spinning flying body.(3)The prototype of the integrated navigation system was designed and developed for high-speed spinning bodies,and a test environment was built to validate the integrated navigation method.The semi-physical simulation tests and offline flight tests were carried out to verify and analyse the stability and accuracy of the designed navigation method through simulation and flight test methods respectively.The test results show that the integrated navigation method proposed in this paper has good accuracy and stability in the estimation of navigation parameters on high-speed spinning flying bodies.