Tightly Coupled Integrated Navigation Algorithm for Hypersonic Boost-Glide Vehicles in the LCEF Frame

According to the trajectory characteristics of hypersonic boost-glide vehicles, a tightly coupled integrated navigation algorithm for vehicles based on launch-centered Earth-fixed (LCEF) frame is proposed. First, strapdown inertial mechanization and discrete update in LCEF are introduced. Subsequently, attitude, velocity, position error equations The system/global positioning system (SINS/GPS) pseudo-range rate measurement derived. Further, SINS/GPS filter state equation presented. Finally, verified hardware-in-the-loop (HWIL) simulation environment. results indicate that precision better than loosely navigation. Moreover, even when number effective satellites less four, functions well, thus verifying effectiveness feasibility algorithm.