Airborne inertial navigation system/radar integrated navigation method based on dual-mode switching
In the airborne inertial navigation system(INS)/millimeter wave radar integrated navigation system,the positioning accuracy would be decreased due to the random constant error contained in the angle measurement of millimeter wave radar.Aiming at this problem,a kind of adaptive dual-mode switching INS/millimeter wave radar integrated navigation method based on cubature Kalman filter(CKF)algorithm is proposed.The integrated navigation process is divided into the slant range and angular position matching stage and the relative position vector matching stage,and meanwhile the modeling method is improved in order to separate the position error caused by the angle measurement constant error from the combined error.In the navigation primary stage,the slant range and angular position matching mode is adopted.Aiming at the filtering divergence problem caused by close range,mode switching method based on sliding window variance detection is used to judge the switching conditions in real time.Once the switch condition is satisfied,the integrated mode automatically switched to the relative position vector matching mode.The proposed algorithm is simulated on the background of airborne landing.Simulation results show that the proposed method effectively improves the precision of integrated navigation,and has certain engineering significance.
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