GPS/INS integration on the Standoff Land Attack Missile (SLAM)

The GPS/INS (global positioning system/Inertial Navigation System) avionics and software integration approach used for the standoff land attack missile (SLAM) is described in detail, along with some of the design tradeoffs that led to this approach. The unique SLAM GPS/INS avionics configuration integrates the existing Harpoon midcourse guidance unit, which includes a strapdown inertial sensor package and digital processor, with a Rockwell-Collins single-channel, sequential GPS receiver processor unit (RPU), a derivative of the GPS phase III user equipment. In addition to the GPS receiver elements, the RPU contains the navigation processor which executes the SLAM navigation and Kalman filter algorithms and other guidance algorithms including seeker pointing. Flight test results of the SLAM GPS-aided INS are also included