Abstract：To meet the low-cost, high-precision and real-time performance needs of the navigation system for loitering munitions, a GPS/SINS tightly coupled navigation algorithm based on inter-satellite time difference carrier phase (TDCP) measurements is presented. Firstly, the dynamic model of GPS/SINS is introduced in a 15 state tightly coupled GPS/INS iterative. Secondly, the measurement model is deduced to process the inter-satellite time difference measurements in the navigation Kalman filter. Finally, simulation and flight trial results are carried out to validate the effectiveness of the TDCP. The results show that TDCP method, compared to conventional tightly coupled integration based on pseudo-range measurement, is better able to provide sub-meter position accuracies as well as mm/s velocity accuracies for the medium-short endurance loitering munitions navigation system.
