SINS/BDS Integrated Navigation for Hypersonic Boost-Glide Vehicles in the Launch-Centered Inertial Frame

Abstract

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.

Tightly Coupled Integrated Navigation Algorithm for Hypersonic Boost-Glide Vehicles in the LCEF Frame

“…The SINS navigation error equations in the LCEF frame include attitude, velocity, and position error equations [14]. They are obtained by linearizing the attitude, velocity, and position equations in Equation ( 1) with first-order small disturbances, as shown in Equation (2).…”

“…The SINS state vector includes the attitude, velocity, position, gyroscope, and accelerometer errors in the LCEF frame [14].…”

“…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]. Therefore, a navigation reference frame combining the characteristics of the LCI frame and the local-level frame is needed to meet the dual requirements of space and aviation for hypersonic vehicles.…”

“…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]. References [14,15] introduced the loosely coupled integrated navigation algorithm in the LCI frame and the LCEF frame, respectively. Based on references [4,14,15], this paper derives the tightly coupled SINS/GPS integrated navigation algorithm, KF state, and measurement equation.…”

“…References [14,15] introduced the loosely coupled integrated navigation algorithm in the LCI frame and the LCEF frame, respectively. Based on references [4,14,15], this paper derives the tightly coupled SINS/GPS integrated navigation algorithm, KF state, and measurement equation. A solution for the tightly coupled integrated navigation of hypersonic boost-glide vehicles is proposed.…”