An INS error estimation method based on passive observation to single feature target for cruise missile

In absence of the other navigation system, cruise missile INS error will be cumulated continuously with the increase of endurance. Therefore, this article proposes a novel practical INS error estimation and compensation method based on continuous observation to feature target. With the observation sequence and pseudo observation sequence, the residual error sequence is constructed. And the error estimation equation is established by treating the residual error sequence as the observation. Then the INS level channel error and vertical channel error are estimated respectively by iterative algorithm. Means de-noising approach is used to improve the estimation accuracy. The INS error compensation method is a real time method. The simulation result shows that this method can reduce the INS position error to 3m and velocity error to 0.5m. So it could be applied to cruise missile autonomous navigation. Even if other navigation systems are available, this method could also be used to increase the reliability of the integrated navigation system.