针对协同航弹应用项目提出的低成本、高精度等硬性需求，设计了以紧组合为组合方式的高精度组合导航系统，且对导航系统运算进行了标量化处理，大幅提升了协同航弹的系统性能。导航系统主要由以卫星接收机输出的伪距、伪距率为量测量的紧组合导航构成，与捷联惯导构成反馈校正，可在不同卫星环境下达到较高的导航精度。但由于高精度导航系统算法复杂，滤波器中矩阵需进行迭代运算，因此极大影响了系统的运算效率。为提高系统运算速度和提升系统性能，将方程中量测矩阵进行拆分，并对运算中的稀疏矩阵进行标量化处理。该方法省略了算法运算中大量的乘法运算和加法运算，将运算时长缩短至原来的17.9%。最后对此系统进行了外场航弹飞行试验，结果表明所设计的系统的导航定位精度较高，完全满足项目导航需求。

To meet the requirements of low cost and high precision of the project， a high-precision integrated navigation system is designed for the cooperative aerial missile application platform. The system operation is scalarized， which greatly improves the performance of the cooperative aerial bomb. The navigation system is mainly composed of tight integrated navigation with pseudo range and pseudo range rate measured by the satellite receiver and feedback correction with strapdown inertial navigation， which can achieve high navigation accuracy in different satellite environments. However， due to the complex algorithm of high-precision navigation system， the matrix in the filter needs iterative operation， which greatly affects the operation efficiency of the system. To improve the system operation speed and system performance， the measurement matrix in the equation is split， and the sparse matrix in the operation is scalarized. This method omits a large number of multiplication operations in the algorithm operation， and shortens the operation time to the original 17.9%. Finally， the aerial missile flight test of the system is carried out. The results show that the navigation and positioning accuracy of the proposed system is high， which fully meets the navigation requirements of the project.