SINS/GPS Integrated Navigation Algorithm for Supersonic Aerial Targets in the LCEF Frame

Regarding the application requirements of supersonic aerial targets (SATs), this paper studies the SINS/GPS integrated algorithm in the launch centered earth-fixed (LCEF) frame. Firstly, the SINS mechanization in the LCEF frame is given, and the update algorithms of SINS attitude, velocity, and position are presented. Then, the state and measurement equations of the SINS/GPS algorithm in the LCEF frame are derived. Finally, the SINS/GPS integrated algorithm is introduced to SATs, and for which a semi-physical simulation test is performed. The results indicate that the position error is less than 10 m, the velocity error is less than 0.3 m/s, the pitching and roll angle errors are <0.2°, and the yaw angle error is <0.3°.