基于UKF弹体滚转姿态测量方法研究

利用磁阻传感器和GPS等器件的测量信息,建立了地磁/GPS组合弹体姿态测量解算模型,对弹体姿态信息进行实时测量解算。为了提高弹体飞行姿态测量解算精度,建立了弹道滤波方程,采用UKF算法进行数据滤波处理,结合磁阻传感器的输出信息对弹体滚转姿态进行实时解算。数值计算及仿真结果表明:相比于直接使用GPS输出的速度信息进行姿态解算,通过UKF滤波处理后,可以使得地磁/GPS组合测量解算的结果更准确,提高了弹体姿态解算精度。

Study of Projectile Roll-attitude Measurement Method Based on Unscented Kalman Filter

A calculation model was built by using the measured information of GPS and magnetometer sensor,and the projectile attitude was calculated in real-time.In order to improve the measurement precision of the projectile attitude,the filter equation of trajectory was established,and the output values of GPS were filtered based on unscented Kalman filter(UKF).The roll angle of projectile was calculated by adopting the filter results and the values of magnetometer sensor.Numerical calculation and simulation results show that the roll angle calculated by adopting the velocity information processed by UKF is more accurate than that by direcdy using the velocity information from GPS output,and the estimation precision of attitude is improved.