本文为土耳其中东技术大学（作者：VEDAT EKüTEKİN）的博士论文，共330页。

巡航导弹是一种使用升力翼和喷气推进系统来实现持续飞行的导弹。巡航导弹本质上是无人驾驶飞机，它们通常设计成携带大型常规或核弹头，精确攻击数百英里外的目标。本文对巡航导弹的导航与控制进行了研究。由于巡航导弹各子系统的多样性和复杂性，其主要关注点仅限于导航系统。导航系统决定导弹的位置、速度、姿态和时间解。因此，可以得出结论，一个精确的自给式导航系统直接影响导弹的成功命中。在研究中，现代雷达数据关联算法被实现为一种新的地形辅助导航（TAN）算法，可用于低成本惯性测量单元（IMU）。为了进行研究，首先对巡航导弹中段制导的文献进行了全面的综述，然后，对现代雷达数据关联算法及其在TAN中的实现进行了简单的仿真研究。在案例研究部分，开发了六自由度飞行仿真工具，包括巡航导弹模型的气动和动力学模型、导航系统的误差模型。最后，结合仿真结果，对采用TAN算法设计的导航系统性能进行了详细的分析。

A cruise missile is a guided missile that uses a lifting wing and a jet propulsion system to allow sustained flight. Cruise missiles are, in essence, unmanned aircraft and they are generally designed to carry a large conventional or nuclear warhead many hundreds of miles with excellent accuracy. In this study, navigation and control studies on cruise missiles are performed. Due to the variety and complexity of the subsystems of the cruise missiles, the main concern is limited with the navigation system. Navigation system determines the position, velocity, attitude and time solutions of the missile. Therefore, it can be concluded that an accurate self-contained navigation system directly influences the success of the missile. In the study, modern radar data association algorithms are implemented as new Terrain Aided Navigation (TAN) algorithms which can be used with low-cost Inertial Measurement Units (IMU’s). In order to perform the study, first a thorough survey of the literature on mid-course navigation of cruise missiles is performed. Then, study on modern radar data association algorithms and their implementations to TAN are done with simple simulations. At the case study part, a six degree of freedom (6 DOF) flight simulation tool is developed which includes the aerodynamic and dynamic model of the cruise missile model including error model of the navigation system. Finally, the performances of the designed navigation systems with the implemented TAN algorithms are examined in detail with the help of the simulations performed.

1.       引言

2. 主流的地形辅助导航方法

3. 地形辅助导航中目标跟踪算法的实现

4. 案例研究

5. 讨论与结论

附录概率数据关联方程

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