Covariance transformation method for polar integrated navigation

Abstract

Abstract The aircraft flying the trans-arctic routes faces the problem that the changes of navigation frames will affect the navigation accuracy. To solve this problem, taking Inertial Navigation System/Global Navigation Satellite System (INS/GNSS) integrated navigation system as an example, an integrated navigation method based on covariance transformation is proposed. This method aims at finding the transformation relationship of the system error state and the covariance between different navigation frames. The experiment and semi-physical simulation results show that the covariance transformation algorithm can effectively solve the filtering instability caused by the changes of the navigation frame. Compared with the non-covariance transformation, the system state error is reduced by an order of magnitude.