The design of a low - cost and missile - borne distributed SINS/GNSS integrated navigation system

Zhejun Wen, Shuai Chen

At present, the missile navigation task machine is developing towards the direction of low cost, but at the same time of reducing cost, it is inevitably faced with the problem of decreasing computing speed and storage capacity of the task machine, resulting in insufficient computing time. In order to solve this contradiction, this paper proposes a distributed algorithm based on the equivalent rotation vector method and it is used to appropriately increase inertial navigation calculating cycle, at the same time non-communicative errors can be reduced. The conventional centralized Kalman filter is separated into IMU several sampling cycles with the advantage of high inertial navigation refresh rate. In this way, not only the navigation precision but also the computation time margin of the combined navigation is guaranteed. Digital simulation shows that the speed and position accuracy of the GNSS/SINS distributed filtering algorithm proposed in this paper is similar to the conventional Kalman filtering algorithm, and the attitude error decreases. This is a good solution to the problem of insufficient computing time and the result is good.