| Citation: | GAO Ziqian, WANG Haiyong, WANG Yonghai, et al. Strapdown inertial/celestial/radar altimeter integrated navigation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(12): 2505-2512. doi: 10.13700/j.bh.1001-5965.2016.0859(in Chinese)
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Aimed at ballistic missile, a strapdown inertial navigation system/celestial navigation system/radar altimeter (SINS/CNS/RA) integrated method was proposed. Since the velocity and position errors' divergent problem of SINS can not be fundamentally solved by conventional SINS/star tracker integrated method, altitude intercept between calculated sea level elevation and observed sea level elevation which was measured by RA is introduced and total differential equation can be deduced. The four-dimensional observation model combining altitude intercept with attitude angle errors and the state model of SINS error equation are established by using extend Kalman filter (EKF) based on midcourse phase navigation. The simulation results manifest that when SINS has an inertial precision grade, star tracker has measurement precision of 10″, and RA has measurement precision of 50 m, after 1 810 s' flight, the velocity error of reentry point is less than 1 m/s and the circular error probability (CEP) is 1.2 km, with a 76.1% decrease of velocity error and 65.0% decrease of position error compared with conventional SINS/CNS method.
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