GPMInav: Guided Projectiles Model/Inertial Autonomous Navigation Framework

High-precision navigation of guided projectiles is the advance of the projectile’s accurate attack on the target. Especially in global navigation satellite system (GNSS)-denied environments, autonomous navigation of the projectile becomes the most important thing for the projectile guidance. Thus, we propose a guided projectile model/inertial autonomous navigation (GPMInav), a model/inertial autonomous navigation framework for guided projectiles. GPMInav is suitable for fully autonomous navigation of guided projectiles. The framework mainly includes two parts: filtering model construction and filtering method design. The system state equations are constructed according to the ballistic kinetic model. The measurement equations are constructed according to the coupling relationship between inertial devices and kinetic model parameters. Based on the filtered innovation information and historical data, a data-driven innovation unscented Kalman filter (DIUKF) is designed. DIUKF can adjust the measurement variance matrix in real time and improve the fusion accuracy of model/inertial parameters. Simulation and experimental results show that GPMInav can realize autonomous navigation. Compared with the traditional unscented Kalman filter (UKF), the positioning accuracy of DIUKF, is improved by 10.44%.