SR-CH∞KF用于弹丸飞行姿态测量研究

doi:10.12305/j.issn.1001-506X.2022.01.32

Abstract

Abstract:

A novel H∞ filter called square-root cubature H∞ Kalman filter is proposed for attitude measurement of high-spinning aircraft. In this method, a combined measurement model of three-axis geomagnetic sensor and gyroscope is used, and the Euler angle algorithm model is used to reduce the state dimension and linearize the state equation, which can reduce the amount of calculation. Differently the method can be applied to the case of measurement noise uncertainty. The innovation sequence is introduced to continuously modify the error limiting parameters to update the measurement noise estimation, which can improve the accuracy and robustness of filtering. The square root form can improve the numerical stability and robustness of cubature Kalman filter because orthogonal decomposition (QR) can ensure the positive definite of error covariance matrix. The algorithm is applied to the simulation experiment of projectile attitude measurement with the combination of geomagnetic sensor and gyroscope. The comparison with cubature Kalman filter and square-root cubature Kalman filter shows the effectiveness and superiority of the algorithm.

Key words: H∞ filter, square-root cubature Kalman filter (SR-CKF), geomagnetic sensor, gyroscope, attitude measurement

CLC Number:

V249.32

Pingan ZHANG, Wei WANG, Min GAO, Yi WANG. Research on SR-CH∞KF for projectile attitude measurement[J]. Systems Engineering and Electronics, 2022, 44(1): 262-269.

Figures/Tables 9

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Table 1

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References 30

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符号	内容	数值
I/(°)	磁倾角	-48.17
D/(°)	磁偏角	2.32
B/nT	磁场强度	50 986.1

内容	数值
初始俯仰角/(°)	45
初始偏航角/(°)	30
初始滚转角/(°)	0
发射速度/(m/s)	897
飞行距离/m	27 126.4
飞行时间/s	87.5
采样时间间隔/s	0.1
飞行最高高度/m	9 377
三轴陀螺仪传感器/(°/s)	0.01
三轴地磁传感器/V	0.1

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Research on SR-CH∞KF for projectile attitude measurement

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