SINS/BDS tightly coupled integrated navigation algorithm for hypersonic vehicle

A tightly coupled integrated navigation system (TCINS) for hypersonic vehicles is proposed when the satellite signals are disturbed. Firstly, the architecture of the integrated navigation system for the hypersonic vehicle is introduced. This system applies fiber SINS, BeiDou satellite receiver (BDS) and System On a Parogrammable Chip (SOPC) missile-born computer. Subsequently, the SINS mechanization for hypersonic vehicle is presented. The J2 model is employed for the normal gravity of the near space. An algorithm for updating the attitude, velocity and position is designed. State equations and measurement equations of SINS/BDS tightly coupled integrated navigation for hypersonic vehicle are given, and a scheme of validity for satellite data is designed. Finally, the SINS/BDS tightly coupled vehicle field tests and hardware-in-the-loop (HWIL) simulation tests are carried out. The vehicle field test and HWIL simulation results show that the heading angle error of tightly coupled integrated navigation is within 0.2°, the pitch and roll angle errors are within 0.05°, the maximum velocity error is 0.3 m/s, and the maximum position error is 10 m.