Error-free strapdown inertial navigation system numerical updating algorithm in the launch-centered Earth-fixed frame for hypersonic vehicles

摘要

The two-sample numerical updating algorithm of strapdown inertia! navigation systems (SINS) for hypersonic vehicles has a relatively large navigation error. To solve this problem, this paper proposes an error-free SINS numerical updating algorithm in the launch-centered Earth-fixed (LCEF) frame. First, the gyroscopes and accelerometers in SINS output angular increment and velocity increment respectively, while the proposed algorithm takes angular velocity and specific force as input, so the methods of angular increment fitting angular velocity and velocity increment fitting specific force are proposed. Then, according to the SINS differential equation in the LCEF frame, the error-free SINS numerical updating algorithm in the LCEF frame is designed by adopting the Taylor series expansion method. The derivation process of the algorithm shows that the proposed algorithm can achieve precise compensation for the non-exchangeable errors of attitude, velocity, and position, and selecting the LCEF frame as the navigation frame has greater advantages than the local-level frame. Finally, two-sample and error-free numerical updating algorithms are simulated and compared by taking the hypersonic boost-gliding vehicle as the object. Under the influence of a pure SINS algorithm, the velocity error of the two-sample algorithm with a simulation duration of 1100 s is in the order of 10~(-2) m/s, and the position error is in the order of 10 m. In contrast, the velocity error of the proposed algorithm is in the order of 10~(-7) m/s, and its position error is in the order of 10~(-4) m.