基于MEMS的火箭制导平台INS与GPS组合导航算法

提高火箭制导平台的导航定位精确度，是火箭试验技术的重要研究内容。针对某火箭制导平台，设计了一种基于微机电惯性导航(INS)与全球定位系统(GPS)多传感器相组合的，采用间接输出校正的导航解算算法。算法利用卡尔曼滤波器对系统误差进行最优估计，估计结果修正惯导解算输出和敏感元件输出。仿真结果表明，在GPS收星有效以及火箭动态过程平稳情况下，该组合导航算法对INS误差随时间积累有明显抑制作用。

INS-GPS integrated navigation algorithm based on MEMS for rocket guidance platform

To improve the navigation and positioning precision of the rocket guidance platform, is one of the important research fields of rocket test technology. For a certain type of rocket guidance platform, an indirect output revising navigation algorithm is proposed, which is based on multiple sensors of Inertial Navigation System(INS) combined with Global Positioning System(GPS). In the algorithm, Kalman Filtering(KF) is utilized for optimum estimate of the systematic error, and the estimation results are adopted for correct inertial navigation calculating and sensor output. Simulation results show that, in the case that GPS works effectively and the rocket dynamics perform stably, the integrated navigation algorithm has obvious inhibitory effect on INS error accumulation over time.