A SINS/CNS deep integrated navigation method based on mathematical horizon reference

Purpose - The purpose of this paper is to overcome the limitations of existing celestial horizon references, and improve the navigation accuracy of the strap-down inertial navigation system/celestial navigation system (SINS/CNS) integrated system with an innovative scheme of deep integration. Design/methodology/approach - First, a novel conception of mathematical horizon reference (MHR) provided by the strap-down matrix of SINS is proposed. Then, the realization mechanism of the MHR-based vertical vector is introduced from the viewpoint of vector rotation. Moreover, the MHR implementation scheme of high precision and reliability is presented, and on this basis, the method which utilizes vertical vector to achieve celestial navigation is introduced. In addition, with considering the characteristics of SINS and the MHR-based CNS, the SINS/CNS deep integrated navigation system and its specific realization are proposed. Finally, simulation tests are implemented to validate this SINS/CNS deep integrated navigation method. Findings - The innovative SINS/CNS deep integrated system could make full use of SINS and CNS navigation information to achieve higher navigation accuracy for the long-duration and high-altitude vehicles. Originality/value - This paper provides a novel realization method of high precision MHR and the MHR-based SINS/CNS deep integration.