An Estimation Method of Projectile Roll Angle Based on GPS and Least Square Filter

Abstract

The invention discloses a method for estimating the roll angle of a projectile based on GPS and least squares filtering. The method includes the following steps: (1) Calculate the inertial frame i of the carrier at time t according to the velocity and position of the projectile provided by the gyroscope and GPS b system is relative to the shell attitude matrix of the carrier system b, the navigation system n is relative to the navigation inertial system i n The shell attitude matrix (2) calculates the shell in the carrier inertial frame i b and navigation inertial frame i n The speed value under the system and (3) the speed ratio provided by GPS to calculate the initial heading angle Y 0 and pitch angle P 0 , set the state variable X according to the initial roll angle; (4) estimate X according to the least squares filter and calculate it as i n system relative to i b (5) Calculate the roll angle of the shell according to the sum at time t; where is the attitude matrix of the n system relative to the b system at the time t.

Description

technical field [0001] The invention belongs to the technical field of navigation, in particular to a method for estimating the roll angle of a shell based on GPS and least square filtering. Background technique [0002] A guided projectile is a low-cost, miniaturized precision-guided weapon, generally equipped with a GPS / INS combination. In the precise control flight technology of ammunition, the real-time and accurate measurement of the roll angle is the basis for the implementation of guidance or correction control, and it is also the key to the long-range and precise flight of the guided munition. In such a severe situation, the IMU cannot be powered on normally in this high overload shock environment, and the initialization of the navigation system needs to be completed autonomously in the air after launch. Moreover, the air is easily affected by wind and other meteorological environments, and it is difficult to estimate the roll angle accurately. Therefore, correcting...

AI Technical Summary

Problems solved by technology

Moreover, the air is easily affected by wind and other meteorological environments, and the estimation of the roll angle is not easy to obtain accurately. Therefore, correcting the roll angle of guided projectiles is a hot topic of research at home and abroad.

Images