弹箭滚转姿态地磁测角仪的卡尔曼滤波算法  

Kalman Filtering Algorithm of Projectil Rolling Attitude Geomagnetic Goniometer

作　　者：田利伟[1] 陈国光[1] 孙汉琴 杨东 白敦卓 

机构地区：[1]中北大学机电工程学院,太原030051 [2]豫西工业集团有限公司,河南南阳473000

出　　处：《弹箭与制导学报》2017年第1期139-143,共5页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：为降低地磁测角仪测量地磁场矢量信息解算弹箭滚转姿态角误差,文中运用卡尔曼滤波算法对弹体滚转角进行估计。通过对火箭弹滚转角速度变化规律的分析,用二阶近似表达弹体滚转运动规律作为卡尔曼滤波算法的系统方程,以磁场强度与数字量输出之间的非线性关系作为卡尔曼滤波算法的量测模型。通过实验仿真分析结果表明,滤波所得弹体滚转角、滚转角速度精度满足弹道修正弹要求,可用于弹道修正弹药被动段的弹道控制。In order to reduce the geomagnetic goniometer measured magnetic field vector information solver projectile rolling attitude angle error, Kalman filtering algorithm was used to estimate the projectile rolling angle in this article. Through the analysis of the change rule of rolling angular velocity, the second order approximate expression of rolling movement law of the elastomer was used as system equations of the Kalman filtering algorithm, and the nonlinear relationship between the strength of the magnetic field and the digital output was used as the measurement model of the kalman filtering algorithm. The simulation results showed that the precision of rolling angle and rolling angular velocity obtained by filtering met the requirement of trajectory correction projectile, which could be used to control the trajectory of the trajectory correction ammunition passive segment.

关 键 词：地磁测角仪 卡尔曼滤波算法 弹箭滚转角测量 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]