A Novel SINS/CNS Integrated Navigation Algorithm used in a Ballistic Missile

The position and velocity errors are divergent of traditional navigation algorithms used in ballistic missile for it cannot estimate the bias of accelerometer precisely. To solve this problem, a novel SINS/CNS integrated navigation algorithm is proposed in this paper, which adds high angle error, azimuth angle error and height error on the basis of the traditional navigation method. As these three values are related to the position of missile, the proposed method can constrain the divergence of navigation errors. Meanwhile, a system model for ballistic missile is deduced. To verify the navigation precision of the proposed algorithm, the observable analysis and simulation experiments are performed. And the results show that the system state of proposed method is observable completely, and the divergence of navigation error can be restrained thoroughly.