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Adaptive P-value mapping integrated algorithm for inertial navigation system and celestial angle integrated navigation system

The integration of inertial navigation system(INS) and celestial angle navigation system are affected by flight conditions.When they are applied to highly dynamical aircrafts,there will appear biases in starlight observations as well as additional navigation errors for conventional integrated filtering approach.To solve those problems,we propose a novel P-value mapping-based quality evaluation for observations and introduce the adaptive filtering approach in the INS/celestial angle integrated navigation system.The observed stars are divided into redundant subsets; and the bias level of each subset is evaluated by a P-value.The observation quality of each star is determined based on the P-values of subsets which the star belongs to,and adaptively applied to adjust the gain of INS/celestial angle integrated filter.Simulation results show that the proposed approach can evaluate observation quality online autonomously,and effectively improve the precision and adaptability of the INS/celestial angle integrated navigation system when the starlight observation quality is declined.