Heading error of Strapdown inertial navigation system (INS) may be enlarged in some complicated road and vehicle conditions when maneuvering long time.An integrated navigation algorithm based on single INS (SINS) integrated navigation algorithm frame was presented.Integrated navigation was achieved through Kalman filter with 21 error states of the inertial measurement unit/distance transfer unit (IMU/DTU),which selected the difference between the displacement increment obtained respectively from the INS and the DTUas the observation term.Most errors of IMU/DTU integrated navigation system was canceled automatically by way of rotation and Kalman filter,which integrated information from the INS and the DTU.Precise position information and attitude information could be output without special conditions for marching vehicles.Some simulation experiments and vehicular tests were executed,which showed that the algorithm was able to achieve precise heading(attitude) and position.Potential accuracy was discovered.Rapid response capability,environmental adaptability and usability were improved greatly.

In order to make reasonable use of the electric energy of the thermal battery,the trajectory of thermal battery activated in the sky is considered.The thermal battery technical characteristics,working principle and activation methods are introduced.The research background is the thermal battery on short time,medium time and long time.The size and weight of the thermal battery under two different activation modes including ground activation and sky activation were analyzed and calculated.The results show that sky activation of the thermal battery can greatly reduce the size and weight which satisfy the goal of miniaturization and lightening of thermal battery better.

The automatic docking process of connector and rocket valve is studied, and a bias measurement system based on dynamic azimuth detection alignment technique is proposed. The deviation value of the connector with the fill valve is obtained and defined as the initial value. The image of the cooperative target is obtained by the optical camera. The camera pose in the two-dimensional plane is quickly extracted by identifying the direction of the target image and the marker size; and the laser sensors are used to accurately obtain the distance information between the target and the camera. The deviation value between the connector and the fill valve can be obtained in real time through this measurement system. It is applied to the automatic docking system, and the results show that the method meets the technical requirements of the automatic docking displacement accuracy 1 mm of the rocket.

Aiming at the problem that the vehicle odometer scale factor changes in real time due to the influence of tire pressure and temperature, a method of SINS (strap down inertial navigation system)/odometer integrated navigation based on strong tracking filter is presented. The property that the residual sequences of Kalman filter are mutually orthogonal is used to adjust fading factor adaptively. The strong tracking filter has the ability to track the sudden change state. The average velocity matching method is proposed to eliminate the influence of vehicle vibration and odometer quantization error on integrated navigation. The lever arm error is adopted into the state variables to eliminate the influence of inaccurate lever arm on integrated navigation when the vehicle is turning. The SINS/odometer integrated navigation model is built. The actual vehicle integrated navigation experiment is carried out. The results show that the positioning accuracy of integrated navigation is better than 1‰D.

Under high dynamic circumstances, the size effect error caused by inner lever arm is an important error source of high accuracy strap-down inertial navigation system (SINS). The mechanism of size effect error is analyzed theoretically. The dynamic error model of inner lever arm is derived, and the calibration model is derived based on inner lever arm model and system error model. By using the velocity compensated with outer lever arm error as the observation, an inner lever arm calibration method based on Kalman filter is established. The experiment results show that the repeatability of inner lever arm parameter is better than 2 mm. In the rapid rotation test, the speed error is reduced by 90% with inner lever arm parameters compensation, and the navigation accuracy in the swing test is improvedsignificantly.