Inertia-radar integrated navigation limited frame measurement variable weight updating method

The invention discloses an inertia-radar integrated navigation limited frame measurement variable weight updating method, which comprises the following steps of: firstly, analyzing and determining a change rule of radar matching positioning accuracy according to ground test and flight test data verification; secondly, according to the change rule, a dynamic measurement weight is designed; and finally, limited frame variable weight weighing is realized in a filter. Compared with the traditional constant value measurement weight, the variable weight measurement updating has the advantages that the utilization of limited frame radar positioning information is more sufficient, the combination precision is higher, and the high-precision inertia-radar combined navigation under the limited frame measurement information can be realized. 本发明公开了一种惯性-雷达组合导航有限帧量测变权重更新方法，首先依据地面测试和飞行试验数据验证，分析确定雷达匹配定位精度的变化规律；其次，依据该变化规律，设计动态量测权重；最后，在滤波器中实现有限帧变权重量测。本发明相较于传统的常值量测权重，变权重量测更新对有限帧雷达定位信息的利用更充分，组合精度更高，能够实现有限帧量测信息下的高精度惯性-雷达组合导航。