高速旋转弹位置与姿态测量数据分析方法

Estimate of Position and Attitude of high-speed Rotating Projectile

精确的弹箭位置与姿态测量数据是提高制导弹箭射击精度的基础。通过分析高速旋转弹位置与姿态传感器的量测噪声,采用卡尔曼滤波方法进行误差估计,以提高测量精度。基于高速旋转弹质心运动和角运动方程,建立了系统状态方程;根据全球定位系统和地磁传感器的测量原理,建立了量测方程;以某弹飞行数据为例,采用扩展卡尔曼滤波(EKF)和无味卡尔曼滤波(UKF)分别对弹箭的位置和姿态进行最优估计。仿真结果表明,采用上述方法可有效减少系统误差,并使综合误差进一步降低,射程与高度误差均控制在±1 m,攻角和侧滑角误差分别为±0.02 rad和±0.01 rad,可满足工程应用的要求。

Accurate measurements of position and attitude are the basis of improving target accuracy. In order to improve the measuring accuracy, the measurement error is estimated by kalman filtering form sensor noises. The equations of states are established based on equations of angular motion and motion of mass center, and measurement equations are established using the theory of the GPS and the magnetometer. Taken one projectile as an example, optimal estimations of models of angular motion and motion of mass center have been made by the extended kalman filtering （EKF） and the unscented kalman filtering （UKF）.The simulation results show that, the system error has been removed effectively, comprehensive error has been further decreased, range error and height error have both been controlled in 士lm, and angles error range of attack and sideslip are respectively 士0.02tad and 士0. 01tad, and those meet the requirements of engineering applications.