Diversity Architecture for Robust GNSS/INS Navigation in Launcher Applications †

The ESA DIVERGENCE (Diversity Architecture for Robust GNSS Receivers in Launcher Applications) project is focused on the design of a GNSS/INS hybrid navigation system and an appropriate FDIR/FDE algorithm for GNC applications in launchers and re-entry vehicles. The main goal is to demonstrate architecture robustness with respect to possible threats and weaknesses introduced by GNSS and INS technology. A baseline navigation system architecture has been developed through a sensor fusion algorithm, which combines IMU, GNSS/DGNSS, a radar altimeter, and a star sensor to cover the accuracy requirements for all the flight phases. The navigation system has been designed to be easily adaptable to multiple applications, such as expendable launch vehicles, microlaunchers, reusable first stage boosters and unmanned re-entry vehicles. The most critical threats/failures were considered for the development of the FDIR/FDE algorithm, comprising GNSS signal outages, spoofing, satellite/receiver clock bias/drift discontinuities, IMU failures, saturation, vibration rectification, coning and sculling, and INS software numerical failures. A preliminary description of the implemented robust FDIR/FDE techniques is reported, and an analysis is conducted to compare the performance before and after FDIR/FDE algorithm implementation in a representative launcher scenario.