基于平方根无迹滤波的滚转弹姿态估计

Estimation of the Attitude of a Rolling Missile Based on Square Root-unscented Kalman Filter

给出一种基于平方根无迹卡尔曼滤波器（SR—UKF）的滚转弹飞行姿态获取方法。使用一个双轴角速率陀螺构成滚转弹飞行姿态遥测系统，利用SR—UKF对遥测数据进行处理，以重构弹体飞行姿态。针对低速滚转弹姿态运动模型的强非线性，运用SR—UKF算法进行姿态运动估计，避免了扩展卡尔曼滤波（EKF）产生的线性化误差。运用低速滚转弹姿态运动模型，导出了一组基于SR-UKF的迭代滤波方程。将基于SR-UKF算法与EKF及UKF的估计结果进行了对比，仿真结果验证了算法的有效性。

A scheme of estimating the flight attitude of a rolling missile based on square root-unscented Kalman filter（SR-UKF） was proposed. To get the attitude of an experimental missile, a telemetry scheme based on two-axis liquid-droved rate gyroscope was studied. The telemetric data was processed by SR-UKF to reconstruct the attitude of missile. Aiming at the non-linearity of dynamic model of rolling missile, the scheme of attitude estimation algorithm based on square root-unscented Kaman filter （SR-UKF） was used to eliminate the errors caused by linearization of extended Kalman filter （EKF）. Using the dynamic attitude model of low rate rolling missile, a group of iterative filter equations based on SR-UKF were educed. The estimation result obtained form the proposed algorithm was compared with EKF and UKF ones, which showed the effectiveness of the proposed algorithm.