In this study, a simulation platform for an integrated navigation algorithm for hypersonic vehicles based on flight mechanics is designed. In addition, the generation method of inertial measurement unit data and satellite receiver data is introduced. First, the interface relationship between a high-precision six-degree-of-freedom (6DoF) model and the simulation platform in the launch-centered Earth-fixed frame is introduced. Three-axis theoretical specific force and angular velocity are output by the 6DoF model. Accelerometer and gyroscope error models are added, and integral processing of the specific force and angular velocity is performed to obtain velocity increment of the accelerometer and the angular increment of the gyroscope. These data are quantified to obtain the accelerometer and gyroscope pulses. The satellite’s pseudo-range and pseudo-range rate as well as its position and velocity are obtained from the theoretical position, velocity, the attitude of the hypersonic vehicle’s 6DoF model output, and the global positioning system (GPS) satellite broadcast ephemeris. The simulation data can be used for the verification of the loose and tight coupling integrated navigation algorithms. The simulation test verifies the accuracy of the designed method.
According to the trajectory specialty of hypersonic boost-glide vehicles, a strapdown inertial navigation system/BeiDou navigation satellite system (SINS/BDS) algorithm based on the launch-centered inertial (LCI) frame for hypersonic vehicles is proposed. First, the related frame system, especially the launch earth-centered inertial (LECI) frame, and the SINS mechanization in the LCI frame are introduced. Second, SINS discrete updating algorithms in the LCI frame for the compensation of coning, sculling, and scrolling effects are deduced in the attitude, velocity, and position updating algorithms, respectively. Subsequently, the Kalman filter of the SINS/BDS integrated navigation in the LCI frame is obtained. The method of converting BDS receiver position and velocity from the Earth-centered Earth-fixed (ECEF) frame to the LCI frame is deduced through the LECI frame. Finally, taking the typical hypersonic boost-glide vehicles as the object, the SINS/BDS algorithm vehicle field test and hardware-in-the-loop simulation are performed.
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.
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