一种应用于空空导弹的BD／SINS紧组合导航算法

A new BD/INS integrated navigation algorithm in inertial coordinate based on pseudo-range/pseudo-range rate

远距空空导弹飞行时间长，纯惯性导航精度要求高难以满足要求，卫星定位／捷联惯性组合导航是解决此难题的一种有效方式。随着北斗导航定位系统的成功应用，北斗／捷联惯性组合导航成为研究热点。研究了基于伪距／伪距率的北斗／捷联惯性组合导航算法，该导航算法采用限定增益kalrnan滤波器。本文从推导惯性坐标系下kalman滤波器的状态方程和量测方程入手，对接收机钟差做了特殊处理，使得滤波结果不受钟差影响。仿真表明该北斗／捷联惯性组合导航算法有较高的导航精度。

The navigation accuracy of the pure SINS system could not satisfy the high performance requirement of air-to-air missile, when the cruise range of the missile is too long. A effective method to solve this problem is to use the GNSS/SINS integrated navigation. Because of the successful application of the Beidou satellites navigation system, the research on BD/ SINS integrated navigation has become a hot engineering field. Consequently, this paper has studied the integrated naviga- tion algorithm of the BD/SINS. The gain-restriction Kalman filter is adopted in the fusion of the information from the SINS and the BD receiver. In order to mitigate the inverse effect of the clock error of the receiver, a special method is used to e- liminate the clock error. The high accuracy performance of the proposed integrated navigation algorithm is proved by the simulations at the end of the paper.