小口径旋转导弹组合导航算法设计

针对小口径旋转导弹特点，提出地磁辅助MEMS惯组的组合导航算法设计方案。给出MEMS惯性器件和地磁传感器的误差数学模型，简述三轴地磁定姿解算原理，在设计的飞行轨迹上进行MEMS惯性导航仿真和MEMS惯组/地磁组合导航仿真。结果表明：经过地磁辅助的MEMS惯性导航的姿态角误差和位置误差减小明显，可以满足旋转导弹的使用要求。

Design of Integrated Navigation Algorithm for Small Bore Spinning Missile

According to the characteristics of small bore spinning missile, the design scheme of integrated navigation algorithm based on geomagnetism assisted MEMS inertial measurement unit (IMU) is proposed. The error mathematical models of MEMS inertial devices and geomagnetic sensors are given, and the calculation principle of 3-axis geomagnetic attitude determination is briefly described. The MEMS inertial navigation simulation and MEMS IMU/geomagnetic integrated navigation simulation are carried out on the designed flight trajectory. The results show that the attitude angle error and position error of MEMS inertial navigation system with geomagnetism assistance are significantly reduced, which can meet the requirements of the spinning missile.