Inertial-Range Instrumented Hybrid Navigation Systems.

摘要

The report discusses a Hybrid Navigational System for low altitude airborne tracking and for accurate calibration of range instrumentation equipment. System consists of an airborne inertial platform, transponder for Distance Measuring Equipment (DME) interrogation (providing range and range measurements), barometer type altimeter or a phase array radar, an airborne navigational and filtering computer, and ground based DME. Inertial platform may or may not be torqued. The heart of the system is the navigational computer and the Kalman filter. A reference trajectory is generated by the cubic spline method and along with proper coordinate conversion, the doppler data, range measurements data, barometer data, and the inertial measurement unit (IMU) accelerometer measurements corrupted with noise are simulated. Navigational equations, error equations, and the Kalman filter algorithm are mechanized.