Relative navigation method based on inertia and differential satellite information

The invention belongs to the field of strapdown inertial navigation, and relates to a relative navigation method based on inertia and differential satellite information, which comprises the following steps: 1) constructing a relative navigation state equation and a measurement equation; 2) compensating a time asynchronization error, wherein time asynchronization refers to asynchronization of the moment when the navigation computer obtains the measurement information and the moment when the sensor acquires the actual information; and 3) performing lever arm compensation on the speed and position data. The unmanned aerial vehicle can be guided to complete carrier landing under the interference condition, and the carrier landing position precision is high. 本发明属于捷联惯性导航领域，涉及一种基于惯性及差分卫星信息的相对导航方法，包括以下步骤：1)构造相对导航状态方程与量测方程；2)对时间不同步误差进行补偿，时间不同步是导航计算机获得量测信息的时刻与传感器实际信息的采集时刻不同步；3)对速度及位置数据进行杆臂补偿。本发明能够在干扰情况下引导无人机完成着舰且着舰位置精度高。