One Gravity Gradient/SINS/Starlight Integrated Navigation Method
In order to improve the accuracy and autonomy of aircraft navigation system,a gravity gradi-ent/SINS/starlight integrated navigation method is proposed.In this integrated navigation system,the gravity gradient information is used to correct the position error of SINS,and the starlight information is used to correct the attitude error of SINS to improve the navigation accuracy and autonomy of the aircraft.Regarding overcoming the shortcomings of the traditional cubature Kalman filter algorithm(CKF)which has low accuracy,the random weighted cubature Kalman filter(RWCKF)is used to design the gravity gra-dient/SINS/starlight integrated navigation system.The simulation results show that the position errors of SINS/starlight integrated navigation system,gravity gradient/SINS integrated navigation system,SAR/SINS/starlight integrated navigation system and the proposed method are 78.1003 m,54.3399 m,39.2776 m and 19.8495 m respectively,which prove that the accuracy of the proposed integrated system is much higher than not only the two subsystems but also the SAR/SINS/starlight integrated navigation system.
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