巡飞弹高精度组合导航方法研究

针对巡飞弹导航系统低成本、高精度和实时性的需求，提出一种时间-星间差分载波相位在GPS/SINS紧组合导航中的应用方法。给出了15种状态下的GPS/SINS紧组合导航动力学模型，推导载波相位的时间-星间双差观测量模型，利用卡尔曼滤波器进行数据融合，并利用仿真和机载实测数据验证算法的有效性。结果表明，与传统的伪距紧组合导航算法相比，时间-星间差分载波相位方法可以为中短航时的巡飞弹导航系统提供m级定位精度和mm/s级速度精度。

Research on High-Precision Integrated Navigation of Loitering Munitions

To meet the low-cost, high-precision and real-time performance needs of the navigation system for loitering munitions, a GPS/SINS tightly coupled navigation algorithm based on inter-satellite time difference carrier phase (TDCP) measurements is presented. Firstly, the dynamic model of GPS/SINS is introduced in a 15 state tightly coupled GPS/INS iterative. Secondly, the measurement model is deduced to process the inter-satellite time difference measurements in the navigation Kalman filter. Finally, simulation and flight trial results are carried out to validate the effectiveness of the TDCP. The results show that TDCP method, compared to conventional tightly coupled integration based on pseudo-range measurement, is better able to provide sub-meter position accuracies as well as mm/s velocity accuracies for the medium-short endurance loitering munitions navigation system.