Hypersonic boost–glide vehicle strapdown inertial navigation system / global positioning system algorithm in a launch-centered earth-fixed frame

Abstract To suit the features of hypersonic vehicles and meet the requirement of their flight control system, we propose an integrated navigation algorithm in the launch-centered earth-fixed (LCEF) frame. First, we introduce a system mechanization for the strapdown inertial navigation algorithm in the LCEF frame and derive discrete update algorithms of strapdown inertial navigation attitude, velocity, and position in the LCEF frame. A coning effect compensation algorithm is deduced in the update algorithm of attitude, and a sculling effect compensation algorithm is deduced in the update algorithm of velocity. Then, we derive the attitude, velocity, and position error equations in the LCEF frame; we further derive a strapdown inertial navigation system (SINS) / global positioning system (GPS) integrated navigation filter state equation and measurement equation of the LCEF frame as well as introduce a simultaneous method of SINS/GPS integrated navigation. Finally, considering the typical hypersonic boost–glide vehicle as the object, the SINS/GPS algorithm is applied in a semi-physical simulation environment; verification results yield a position error less than 10 m, a velocity error less than 0.2 m/s, and an attitude error less than 0.05°.

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