A joint correcting method of multi-platform INS error based on relative navigation

It is of distinct advantage that the members of an air fleet are equipped with just inertial navigation system (INS) in collaborative formation flying, such as concealment, anti-jamming, etc. However, with the increase of endurance, INS error will be cumulated continuously, which may lead the navigation system to fail. Therefore, this article proposes a joint correcting method of multi-platform INS errors based on relative navigation. First, it builds a relative motion model and a nonlinear observation model, constructed a pseudo linear observation model with measurement reconstruct technique, and then it deduces the pseudo linear observation covariance matrix. Second, the article proposes a joint correcting method of multi-platform INS errors based on relative navigation, and demonstrates the satisfactory effect of this joint INS error correction. Furthermore, it provides a specific strategy of joint correction. Finally, the simulation result shows that compared with the extended Kalman filter (EKF), the proposed method can increase the convergence rate of relative navigation by a large amount while the accuracy remains unchanged on the whole. The joint correcting method of multi-platform INS errors based on relative navigation effectively slows down the divergence speed of INS errors of a formation system.