The invention discloses a firework emission accurate control method based on
sensor fusion. The firework emission accurate control method comprises the following steps: S1, configuring a firework control module; s2, installing a firework control module at the top of a firework shell, and carrying out initialization; s3, collecting real-time attitude data, and performing Kalman filtering
processing; s4, collecting air
pressure data, and calculating the relative
flight height; s5, constructing a display shell flight trajectory prediction model, and calculating a trajectory deviation value; s6, judging whether the attitude prediction value, the height prediction value and the trajectory deviation value meet requirements or not; s7, if the judgment conditions are met at the same time, an electric blasting fuse is triggered to ignite the display shell; s8, the posture prediction value, the track deviation value and the set-off state mark are sent to a multi-bullet cooperative
control unit; and S9, coordinating the display shell to synchronously set off according to a preset pattern. According to the method, sensor data, Kalman filtering and a trajectory prediction modeling method are fused, display shell attitude judgment and collaborative setting-off are achieved, and the method has the advantages of being accurate, safe and high in
synchronism.