The invention discloses an amphibious step chariot
muzzle attitude measurement method and device based on
process noise adaptive filtering, and the method specifically comprises the steps: determining the installation positions of an
optical fiber inertial navigation device, an MEMS inertial navigation device and a photoelectric
encoder according to an amphibious step chariot body; according to roll,
pitch and course angle information, provided by
optical fiber inertial navigation, of a gun and
pitch angle and course angle information, provided by a photoelectric
encoder, of a
barrel of the gun, attitude information of virtual
optical fiber inertial navigation is obtained through calculation; carrying out calculation by utilizing MEMS inertial navigation to obtain self attitude information; measuring the difference between the attitude information of the MEMS inertial navigation and the attitude information of the virtual optical
fiber inertial navigation; a dynamic lever arm
correction method and a flexural deflection
noise correction method are adopted, and Sage-Husa
process noise self-adaptive Kalman filtering is combined to estimate
muzzle attitude information. The
system has the capacity of self-adaption to amphibious environments, has the advantages of being convenient to install, stable in performance, high in
measurement precision and high in real-time performance, and can effectively cope with complex and dynamic
battlefield environments.