SINS/CNS Nonlinear Integrated Navigation Algorithm for Hypersonic Vehicle

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td align="left" rowspan="2">Error</td><td align="center" colspan="2"><svg height="9.49473pt" id="M97" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 12.8352 9.49473" width="12.8352pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M501 517C491 587 426 710 310 710C240 710 175 662 175 601C175 561 201 517 250 452C219 438 187 423 157 404C88 360 24 280 24 178C24 71 90 -12 195 -12C250 -12 297 6 334 32C412 87 452 170 452 249C452 335 408 396 333 481C259 565 229 601 229 621C229 642 245 652 275 652C359 652 427 583 490 499L501 517ZM364 233C364 142 323 33 222 33C173 33 119 81 119 178C119 265 156 335 193 374C213 395 242 413 272 425C308 384 364 319 364 233Z" id="g50-226"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="525" vert-adv-y="525"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,6.826,0)"><path d="M219 86C216 168 211 250 206 337C201 410 189 448 163 448C131 448 79 396 43 344L60 322C91 359 110 375 118 375S132 358 136 298C141 238 152 81 155 -12H182C242 62 331 177 390 258C435 321 451 360 451 391C450 424 432 448 408 448C390 448 372 435 366 419C362 410 362 401 366 394C373 383 376 367 376 350C376 283 262 138 221 86H219Z" id="g185-40"></path><glyph.data ascent="989" descent="-303" horiz-adv-x="447" vert-adv-y="447"></glyph.data></g></svg>/m/s</td><td align="center" colspan="2"><svg height="12.6134pt" id="M98" style="vertical-align:-3.32507pt" version="1.1" viewbox="-0.0498162 -9.28833 13.7877 12.6134" width="13.7877pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M501 517C491 587 426 710 310 710C240 710 175 662 175 601C175 561 201 517 250 452C219 438 187 423 157 404C88 360 24 280 24 178C24 71 90 -12 195 -12C250 -12 297 6 334 32C412 87 452 170 452 249C452 335 408 396 333 481C259 565 229 601 229 621C229 642 245 652 275 652C359 652 427 583 490 499L501 517ZM364 233C364 142 323 33 222 33C173 33 119 81 119 178C119 265 156 335 193 374C213 395 242 413 272 425C308 384 364 319 364 233Z" id="g50-226"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="525" vert-adv-y="525"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,5.874,0)"><path d="M573 302C573 402 527 451 414 451C386 451 343 446 313 437L330 513L320 522C295 508 261 484 243 463L230 415C194 400 159 383 126 359L131 330C159 344 187 357 222 368L109 -147C96 -204 80 -214 18 -223L13 -255L256 -244L259 -212L236 -210C184 -205 180 -195 191 -141L219 -1C240 -10 268 -12 284 -12C352 4 431 48 484 104C543 166 573 240 573 302ZM481 290C481 165 381 37 305 37C280 37 249 56 235 71L302 395C328 399 353 402 372 402C427 402 481 378 481 290Z" id="g50-113"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="597" vert-adv-y="597"></glyph.data></g></svg>/m</td></tr><tr class="thead"><td align="center"><span style="width: 17.1357ptpx;"><svg height="12.449pt" id="M99" style="vertical-align:-3.16067pt" version="1.1" viewbox="-0.0498162 -9.28833 17.1357 12.449" width="17.1357pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M501 517C491 587 426 710 310 710C240 710 175 662 175 601C175 561 201 517 250 452C219 438 187 423 157 404C88 360 24 280 24 178C24 71 90 -12 195 -12C250 -12 297 6 334 32C412 87 452 170 452 249C452 335 408 396 333 481C259 565 229 601 229 621C229 642 245 652 275 652C359 652 427 583 490 499L501 517ZM364 233C364 142 323 33 222 33C173 33 119 81 119 178C119 265 156 335 193 374C213 395 242 413 272 425C308 384 364 319 364 233Z" id="g50-226"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="525" vert-adv-y="525"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,6.826,0)"><path d="M219 86C216 168 211 250 206 337C201 410 189 448 163 448C131 448 79 396 43 344L60 322C91 359 110 375 118 375S132 358 136 298C141 238 152 81 155 -12H182C242 62 331 177 390 258C435 321 451 360 451 391C450 424 432 448 408 448C390 448 372 435 366 419C362 410 362 401 366 394C373 383 376 367 376 350C376 283 262 138 221 86H219Z" id="g185-40"></path><glyph.data ascent="989" descent="-303" horiz-adv-x="447" vert-adv-y="447"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,12.637,3.001)"><path d="M398 365C398 411 356 451 297 451C250 451 198 430 151 397C65 336 24 230 24 139C24 14 97 -12 148 -12C198 -12 284 7 373 104L355 130C306 84 246 53 198 53C132 53 111 109 111 163V189C209 211 398 261 398 365ZM317 351C317 308 273 262 117 225C134 338 189 383 221 399C230 404 249 407 263 407C295 407 317 389 317 351Z" id="g50-102"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="422" vert-adv-y="422"></glyph.data></g></svg></span></td><td align="center"><span style="width: 17.9578ptpx;"><svg height="12.449pt" id="M100" style="vertical-align:-3.16067pt" version="1.1" viewbox="-0.0498162 -9.28833 17.9578 12.449" width="17.9578pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M501 517C491 587 426 710 310 710C240 710 175 662 175 601C175 561 201 517 250 452C219 438 187 423 157 404C88 360 24 280 24 178C24 71 90 -12 195 -12C250 -12 297 6 334 32C412 87 452 170 452 249C452 335 408 396 333 481C259 565 229 601 229 621C229 642 245 652 275 652C359 652 427 583 490 499L501 517ZM364 233C364 142 323 33 222 33C173 33 119 81 119 178C119 265 156 335 193 374C213 395 242 413 272 425C308 384 364 319 364 233Z" id="g50-226"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="525" vert-adv-y="525"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,6.826,0)"><path d="M219 86C216 168 211 250 206 337C201 410 189 448 163 448C131 448 79 396 43 344L60 322C91 359 110 375 118 375S132 358 136 298C141 238 152 81 155 -12H182C242 62 331 177 390 258C435 321 451 360 451 391C450 424 432 448 408 448C390 448 372 435 366 419C362 410 362 401 366 394C373 383 376 367 376 350C376 283 262 138 221 86H219Z" id="g185-40"></path><glyph.data ascent="989" descent="-303" horiz-adv-x="447" vert-adv-y="447"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,12.637,3.001)"><path d="M504 89L488 119C453 85 428 69 416 69C408 69 405 75 412 102L462 304C492 438 460 451 436 451S388 441 356 423C311 397 229 336 170 256H168L189 340C208 418 200 451 177 451C144 451 82 413 24 352L40 322C65 345 98 369 108 369C114 369 119 363 112 335L28 -3L36 -12C54 -3 83 4 112 10C125 73 138 122 153 174C205 258 328 382 376 382C395 382 399 369 384 305L330 93C312 25 323 -12 351 -12C378 -12 439 21 504 89Z" id="g50-111"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="512" vert-adv-y="512"></glyph.data></g></svg></span></td><td align="center"><span style="width: 14.0487ptpx;"><svg height="9.49473pt" id="M101" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 14.0487 9.49473" width="14.0487pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M501 517C491 587 426 710 310 710C240 710 175 662 175 601C175 561 201 517 250 452C219 438 187 423 157 404C88 360 24 280 24 178C24 71 90 -12 195 -12C250 -12 297 6 334 32C412 87 452 170 452 249C452 335 408 396 333 481C259 565 229 601 229 621C229 642 245 652 275 652C359 652 427 583 490 499L501 517ZM364 233C364 142 323 33 222 33C173 33 119 81 119 178C119 265 156 335 193 374C213 395 242 413 272 425C308 384 364 319 364 233Z" id="g50-226"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="525" vert-adv-y="525"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,6.474,0)"><path d="M547 100L523 123C489 76 461 62 452 62C442 62 433 71 427 109C405 243 387 408 378 495C360 666 322 710 263 710C230 710 182 688 161 667L170 639C184 646 203 651 218 651C247 651 272 634 288 562C297 521 300 485 304 436C230 267 111 104 24 11L33 -12L116 6C163 73 263 255 311 362L347 84C355 26 373 -12 406 -12C440 -12 489 12 547 100Z" id="g50-233"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="571" vert-adv-y="571"></glyph.data></g></svg></span></td><td align="center"><span style="width: 13.9182ptpx;"><svg height="9.49473pt" id="M102" style="vertical-align:-0.2063999pt" version="1.1" viewbox="-0.0498162 -9.28833 13.9182 9.49473" width="13.9182pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M501 517C491 587 426 710 310 710C240 710 175 662 175 601C175 561 201 517 250 452C219 438 187 423 157 404C88 360 24 280 24 178C24 71 90 -12 195 -12C250 -12 297 6 334 32C412 87 452 170 452 249C452 335 408 396 333 481C259 565 229 601 229 621C229 642 245 652 275 652C359 652 427 583 490 499L501 517ZM364 233C364 142 323 33 222 33C173 33 119 81 119 178C119 265 156 335 193 374C213 395 242 413 272 425C308 384 364 319 364 233Z" id="g50-226"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="525" vert-adv-y="525"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,6.474,0)"><path d="M567 167L534 181C505 122 482 94 454 70C428 46 385 42 330 42C288 42 248 44 235 55C216 70 213 91 220 130L295 528C310 609 314 611 401 618L409 650H140L131 618C222 611 224 609 209 528L133 126C118 47 108 41 25 33L18 0H497C514 33 554 126 567 167Z" id="g50-77"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="579" vert-adv-y="579"></glyph.data></g></svg></span></td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td align="left">One star</td><td align="center">0.21</td><td align="center"><span style="width: 30.2292ptpx;"><svg height="8.69876pt" id="M103" style="vertical-align:-0.3629799pt" version="1.1" viewbox="-0.0498162 -8.33578 30.2292 8.69876" width="30.2292pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 236V289H56V236H556Z" id="g54-33"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,7.943,0)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,14.274,0)"><path d="M117 -12C153 -12 178 12 178 50C178 84 153 110 118 110C84 110 59 84 59 50C59 12 84 -12 117 -12Z" id="g50-47"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="237" vert-adv-y="237"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,17.355,0)"><path d="M453 623H65C60 580 56 530 46 472H80C103 538 110 548 175 548H389C310 380 195 168 90 0L98 -12L175 -2C273 206 366 408 462 610L453 623Z" id="g50-56"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,23.688,0)"><path d="M141 347C171 480 264 541 327 570C364 587 403 599 436 605L429 641C389 634 339 622 300 609C191 570 37 458 37 239C37 86 126 -12 245 -12C367 -12 454 89 454 210C454 314 380 397 272 397C252 397 230 390 208 380L141 347ZM231 338C323 338 366 257 366 174C366 108 340 27 263 27C180 27 129 123 129 244C129 268 130 292 135 310C158 323 193 338 231 338Z" id="g50-55"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg></span></td><td align="center">737.7</td><td align="center">842.6</td></tr><tr><td align="left">Two stars</td><td align="center">0.13</td><td align="center"><span style="width: 30.2292ptpx;"><svg height="8.69876pt" id="M104" style="vertical-align:-0.3629799pt" version="1.1" viewbox="-0.0498162 -8.33578 30.2292 8.69876" width="30.2292pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 236V289H56V236H556Z" id="g54-33"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,7.943,0)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,14.274,0)"><path d="M117 -12C153 -12 178 12 178 50C178 84 153 110 118 110C84 110 59 84 59 50C59 12 84 -12 117 -12Z" id="g50-47"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="237" vert-adv-y="237"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,17.355,0)"><path d="M290 377C321 398 342 415 358 430C378 450 389 473 389 502C389 578 329 635 238 635H237C184 635 137 610 109 578L64 515L88 493C112 529 154 573 208 573S303 542 303 482C303 409 233 370 141 341L149 308C165 313 190 319 215 319C272 319 341 283 341 193C342 98 292 43 222 43C163 43 122 72 96 94C88 101 79 100 70 94C61 87 47 73 46 60C44 47 48 37 62 23C76 10 118 -12 165 -12C238 -12 430 62 430 223C430 297 379 359 290 375V377Z" id="g50-52"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,23.686,0)"><path d="M253 635C142 635 71 555 71 471C71 401 113 353 178 316C144 294 106 267 91 252C70 231 46 202 46 157C46 51 132 -12 241 -12C328 -12 442 52 442 168C442 257 379 305 311 343C354 373 380 398 388 407C406 428 417 458 417 487C417 568 348 635 253 635ZM240 600C288 600 340 563 340 481C340 423 313 387 279 360C207 394 148 427 148 499C148 549 182 600 240 600ZM252 23C188 23 129 73 129 163C129 217 162 266 211 298C289 260 360 217 360 144C360 69 312 23 252 23Z" id="g50-57"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg></span></td><td align="center">161.2</td><td align="center">89.5</td></tr><tr><td align="left">Three stars</td><td align="center"><span style="width: 30.2292ptpx;"><svg height="8.69876pt" id="M105" style="vertical-align:-0.3629799pt" version="1.1" viewbox="-0.0498162 -8.33578 30.2292 8.69876" width="30.2292pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 236V289H56V236H556Z" id="g54-33"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,7.943,0)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path><glyph.data ascent="3443" 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vert-adv-y="487"></glyph.data></g></svg></span></td><td align="center"><span style="width: 30.2292ptpx;"><svg height="8.69876pt" id="M106" style="vertical-align:-0.3629799pt" version="1.1" viewbox="-0.0498162 -8.33578 30.2292 8.69876" width="30.2292pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M556 236V289H56V236H556Z" id="g54-33"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="611" vert-adv-y="611"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,7.943,0)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,14.274,0)"><path d="M117 -12C153 -12 178 12 178 50C178 84 153 110 118 110C84 110 59 84 59 50C59 12 84 -12 117 -12Z" id="g50-47"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="237" vert-adv-y="237"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,17.355,0)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,23.686,0)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg></span></td><td align="center">108.9</td><td align="center">72.6</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Mathematical Problems in Engineering

tab1

Table 1

Table 1: SINS/CNS Nonlinear Integrated Navigation Algorithm for Hypersonic Vehicle 