基于超球面采样UDU^TUKF算法的炮弹姿态测定  

Spherical Simplex UDUT UKF Algorithm for Projectile's Attitude Determination

作　　者：李雅梅[1] 丁宗富[1] 宋春雷[2] 刘志德[1] 

机构地区：[1]辽宁工程技术大学电气与控制工程学院,葫芦岛125000 [2]北京理工大学自动化学院,北京100081

出　　处：《计算机系统应用》2012年第4期179-183,共5页Computer Systems & Applications

基　　金：国家自然科学基金(50874059);武器装备预研基金(51309030102)

摘　　要：针对炮弹发射时冲击性高、惯性飞行和飞行时间短的特点,提出一种基于超球面采样的UDUT无迹卡尔曼滤波算法(SS-UDUTUKF),估算炮弹运行姿态。针对炮弹运动规律的特殊性,建立系统的线性状态方程和非线性量测方程,采用三个微机电加速度计作为惯性测量单元测量比力矢量。采用UDUTUKF算法估计非线性系统的状态,抑制滤波的发散,提高滤波的稳定性。SS-UDUTUKF滤波算法具有很好的数值稳定性,能防止估计误差方差阵失去非负定性和对称性,可有效的抑制由于计算舍入误差而造成的滤波不稳定的问题。在三轴飞行测试转台上的仿真实验表明该算法具有很高的估算精度,满足炮弹姿态实时测定的要求。Considering the performance of short-time working, inertial flight and high impulse of launch for projectile, a spherical simplex UDUT unscented Kalman filter （SS-UDUTUKF） is proposed to estimate the state of attitude determination system. According to the special motional rule of projectile, only use three low-cost MEMS accelerometers as inertial measurement unit to measure the specific force, and construct the linear state equation and nonlinear measurement equation of system. Use the UDUT UKF to estimate the state of nonlinear system, which effectively enhances the stability of filter and restrains the divergence of filter. The SS-UDUTUKF algorithm has good numerical stability, avoids losing the non-negative definiteness and symmetry of estimation covariance and effectively restrains the divergence of filter resultingly from rounding error of calculation. The experimental results in a three-axis flight test rotary table show that the proposed algorithm obtains the good precision of estimation and satisfies the request of real-time response of projectile＇s attitude determination.

关 键 词：姿态测量 微机电传感器 超球面采样 无迹卡尔曼滤波 

分 类 号：TJ410.6[兵器科学与技术—火炮、自动武器与弹药工程]