The integrated navigation method based on star sensor celestial angles (altitude angle and azimuth angle) is proposed to serve the need for rapidly responsive, reliable, and precise of a hypersonic vehicle under a sophisticated environment. An integrated navigation algorithm suitable for large azimuth misalignment is established under launching point inertial coordinate and local geographical coordinate system based on altitude angle and azimuth angles. Meanwhile, a Bayesian method for data dropouts aided by the strapdown celestial angles is presented for the rapid variability in the celestial star angle with active galaxies. A nonlinear Bayesian filter is applied to implement the simulation on account of the nonlinear feature of the state and measurement equations. The simulation results showed that the Bayesian method for integrated navigation data dropouts could be accomplished by altitude angle and azimuth angle aiding in both launching point inertial coordinate and local geographical coordinate systems, which converge to 1′ in 10 s. The method indicated that the integrated navigation significant errors derived from initial localization and initial attitude alignment could be modified by the strapdown inertial navigation system (SINS) supported by the star sensor’s celestial angle in the local geographic coordinate system in the early launch stage. For the seconds of the flight phase, the integrated navigation aided by celestial angles in the launching point inertial coordinate system was guaranteed for the feasibility and validity. During the flight, the feasibility and validity of integrated navigation were guaranteed aided by celestial angles in launching point inertial coordinate system.

中文翻译：

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捷联天角辅助车辆综合导航方法

提出了基于星敏感器天角（高度角和方位角）的组合导航方法，以满足高超音速飞行器在复杂环境下的快速响应、可靠和精确的需求。在发射点惯性坐标系和基于高度角和方位角的局部地理坐标系下，建立了一种适用于大方位错位的组合导航算法。同时，针对活动星系天星角的快速变化，提出了一种利用捷联天角辅助数据丢失的贝叶斯方法。由于状态方程和测量方程的非线性特征，采用非线性贝叶斯滤波器进行仿真。仿真结果表明，在发射点惯性坐标系和当地地理坐标系中，可以通过高度角和方位角辅助完成组合导航数据丢失的贝叶斯方法，在10 s内收敛到1′。该方法表明，在发射初期，由星敏感器在当地地理坐标系中的天角支持的捷联惯导系统（SINS）可以修正初始定位和初始姿态对准导致的组合导航显着误差。对于飞行阶段的秒数，以发射点惯性坐标系中的天角辅助组合导航的可行性和有效性得到了保证。在飞行过程中，