Abstract: InthetraditionalINS/CNSintegratedalgorithm,thesystemnoiseiscorrelatedwiththemeasurednoisebecausethecelestialobservationoutputcouplesthehorizontalplatformbenchmarkerror.Tofixthisproblem,theprincipleofusingcelestialobservationtomodifygyroscopeexcursionwasanalyzed,andanaerospacevehiclepositioningandnavigationthemebasedondirectlysensinghorizontoachievecelestialanalyticalpositioningandintegratedfilteringwasproposed,thentherelevantintegratedfiltermodelwasbuilt.Inthetheme,aninertiabenchmarkwasbuiltbystarsensorandgyro,thencelestialpositioningbasedoninfraredhorizonsensorwascalculated,andatlasttheINS/CNSintegratedfilteringwasimplemented.Thisthemefullytakestheadvantageoftheaccuratecelestialinformationandsucceedsinmakingthesystemnoiseandthemeasurednoiseindependent.Thesimulationresultsshowthevalidityoftheproposedtheme.

Key words: Kalmanfiltering, Infraredhorizonsensor, Starsensor, Integratednavigation, Inertialnavigationsystem, Aerospacevehicle