SINS/RCNS integrated navigation method based on MME/KF algorithm

The positioning accuracy of traditional SINS/CNS integrated navigation system is low, because of the limitation of level benchmark. So strap-down inertial navigation system/stellar refraction celestial navigation system integrated navigation method (SINS/SRCNS) based on starlight refraction method is proposed. The model errors which are uncertain exist in measurement equation are estimated by Minimum Mode error Estimation (MME) and backward inference algorithm. Then the Kalman Filter is used to estimate system's states, this entire process formed the MME/KF algorithm. The simulation results indicated that, the proposed method is not only able to estimate the gyro drift exactly, but also to correct the navigation error caused by the accelerometer bias, and bate the divergence of speed and position error ulteriorly, therefore it is a practical method to improve the positioning accuracy.