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Combined navigation system of suborbital vehicle

(WP5 – Avionics)

Jinru ZHANG – Zihao WANG – Dazhen SHI


Ideal navigation system in Suborbital Vehicle

should meet the following requirements:

global coverage; high relative precision and

absolute accuracy; good real-time response;

able to provide 3D position, 3D velocity and

attitude heading data; the work is not affected

by the external environment; be able to deal

with the interference of anti-human and non-

human activities, and ready to make





troubleshooting; high reliability; low cost for

customers to accept.

Obviously, any single navigation system is

unable to meet the above requirements. So

combined navigation technology will gradually

become the main research and development

in the field of object navigation.

Combined Navigation System can bring the

advantages of each single navigation system

while they make up for their shortcomings,

can adapt to modern warfare navigation





combinations, redundant design, and multi-

function combined navigation system is widely

used in the world.

In navigation system, subsystems are

complemented with each other; they can

share information together, thereby expanding

the scope of utilization and improving

navigation accuracy. Combined navigation

system has strong fault tolerance and

redundancy navigation capabilities, so that it

can increase the reliability of the navigation

system. In addition, using combined

navigation system for precision navigation can

reduce overall system cost.

Development of micro technology and digital

filtering greatly promoted research and

development of combined navigation


So we choose a combined navigation system

in our project, it’s a combination of Inertial

Navigation System (INS); Global Navigation

Satellite System (GNSS); Celestial Navigation

System (CNS).The INS/GNSS/CNS system

has a very high accuracy.

In this Challenge, we are mainly deal with the

following steps:

Firstly, we analyze the environmental

characteristics of the suborbital flight vehicle,

then we analyze the current stage of several

typical inertial navigation system. Then we

use Kalman Filter technology to design a

specific Kalman Filter, which is used in the

combined navigation system in suborbital


Secondly, we use module X-34 suborbital

flight path to establish the trajectory

simulation model by Matlab /Simulink. After

we set up the simulation parameters, we also

make some analysis on the results. And the

results verify the correctness of the system

model, showing that INS / GPS / CNS

combined navigation system with a Kalman

filter for filtering can achieve high accuracy