Abstract
According to the trajectory characteristics of hypersonic boost-glide vehicles, a tightly coupled integrated navigation algorithm for hypersonic vehicles based on the launch-centered Earth-fixed (LCEF) frame is proposed. First, the strapdown inertial navigation mechanization algorithm and discrete update algorithm in the LCEF frame are introduced. Subsequently, the attitude, velocity, and position error equations of strapdown inertial navigation in the LCEF frame are introduced. The strapdown inertial navigation system/global positioning system (SINS/GPS) pseudo-range and pseudo-range rate measurement equations in the LCEF frame are derived. Further, the tightly coupled SINS/GPS integrated navigation filter state equation and the measurement equation are presented. Finally, the tightly coupled SINS/GPS integrated navigation algorithm is verified in the hardware-in-the-loop (HWIL) simulation environment. The simulation results indicate that the precision of tightly coupled integrated navigation is better than that of loosely coupled integrated navigation. Moreover, even when the number of effective satellites is less than four, tightly coupled integrated navigation functions well, thus verifying the effectiveness and feasibility of the algorithm.
Highlights
Hypersonic vehicles are being developed by various countries in the world today because of their strong strategic deterrence, air–space integrated information support, control capabilities, rapid navy, army, and air strike capabilities, and remote air interception capabilities [1]
The strapdown inertial navigation algorithm in the launch-centered Earth-fixed (LCEF) frame was presented in reference [4], proposing solutions to the abovementioned problems [4]
; gg is the gravity of the carrier in the LCEF frame; Ωbgb is the anti-symmetric matrix of the carrier angular velocity ωgbb; and ωgbb = ωabb − Rbgωagg, where ωabb is the angular velocity measured by the triaxial gyroscopes, abbreviated as ωb
Summary
Hypersonic vehicles are being developed by various countries in the world today because of their strong strategic deterrence, air–space integrated information support, control capabilities, rapid navy, army, and air strike capabilities, and remote air interception capabilities [1]. The navigation system of the Hypersonic Technology Vehicle 2 (HTV-2) uses a tightly coupled INS/GPS navigation, achieving a navigation precision of up to 3 m [6]. When the effective number of satellites is less than four, it can still perform integrated navigation and has strong anti-interference ability This can meet the navigation needs of hypersonic vehicles. As a hypersonic boost-glide vehicle has dual flight control and navigation requirements for space and aviation [4], a single launch-centered inertial (LCI) frame in space and a local-level frame in aviation cannot meet its navigation requirements simultaneously [14]. The strapdown inertial navigation algorithm in the launch-centered Earth-fixed (LCEF) frame was presented in reference [4], proposing solutions to the abovementioned problems [4]. The Earth-centered inertial (ECI) frame, i; 2. the Earth-centered Earth-fixed (ECEF) frame, e; 3. the body-fixed (BF) frame, b; 4. the launch-centered Earth-fixed (LCEF) frame, g; 5. the launch-centered inertial (LCI) frame, a
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