基于磁传感器/GPS组合制导飞行弹体的姿态和位置估计

Estimate of Attitude and Position of Flying Projectile Controlled by Combined Guidance Based on Magnetometer/GPS

提出一种基于磁传感器/GPS组合制导的飞行弹体的姿态和位置估计方法。使用两个简化的随机动态方程分别建立飞行弹体的轨迹和姿态动态模型,利用GPS和磁传感器的测量值,基于Kalman滤波和Unscented变换(UT)的组合滤波器,得到弹体轨迹和姿态角的估计值。对155 mm旋转弹的仿真结果表明了该方法的可行性和有效性。

A method of estimating the attitude and the position of flying projectile controlled by combined guidance was proposed based on magnetometer/GPS. The model of trajectory and attitude of flying projectile were established by two simplified random dynamic functions respectively. The traiectory and the attitude of the projectile were estimated by the measured values of magnetometer/GPS based on Kalman filter and Unscented transformation. The results simulated by 155 mm spinning proiectile show that the proposed method is feasible and effective.