Attitude and velocity estimation of a projectile using low cost magnetometers and accelerometers

Combettes, Christophe; Changey, Sébastien; Adam, R.; Pecheur, Emmanuel

doi:10.1109/plans.2018.8373439

Cited by 12 publications

(16 citation statements)

References 17 publications

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“…e Selection of Subdivision Band. From (12), it can be concluded that the angular rate signal measured by the Yaxis gyroscope contains three main frequency components, 0 , 0 − , and 0 + Ω. When using the BSCZT algorithm to perform time-frequency analysis on the Y-axis gyro signal, it is necessary to set the subdivision frequency band.…”

Section: E Bsczt-kf Algorithmmentioning

confidence: 99%

“…In this solution, the acquisition accuracy of the gravity vector was closely related to the established dynamic model of the projectile, while the signal of GNSS might be lost, and the data update rate was low. Christophe et al [12] estimated the angular velocity of the projectile using low-cost sensors (two-axis accelerometers and threeaxis magnetometers), combined with a 6-degree-of-freedom ballistic model. In this method, the parameter setting of the 6-DOF ballistic model directly determined the estimation accuracy of the angular rate of the projectile, and the system was poor in robustness.…”

Section: Introductionmentioning

confidence: 99%

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Extraction and Filter Algorithm of Roll Angular Rate for High Spinning Projectiles

Zhao

Liu

et al. 2019

Mathematical Problems in Engineering

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The accurate measurement of roll angular rate for high spinning projectile has long been a challenging problem. Aiming to obtain the accurate roll angular rate of high spinning projectile, a novel extraction and filter algorithm, BSCZT-KF, is proposed in this paper. Firstly, a compound angular motion model of high spinning projectile is established. According to the model, we translate the roll angular rate measurement problem into a frequency estimation problem. Then the improved CZT algorithm, BSCZT, was employed to realize an accurate estimation of the narrowband signal frequency. Combined with the peak detection method, the BSCZT-KF algorithm is presented to further enhance the frequency estimation accuracy and the real-time performance. Finally, two sets of actual flight tests were conducted to verify the effectiveness and accuracy of the algorithm. The test results show that the average error of estimated roll angular rate is about 0.095% of the maximum of roll angular rate. Compared with the existing methods, the BSCZT-KF has the highest frequency estimation accuracy for narrowband signal.

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Section: E Bsczt-kf Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Extraction and Filter Algorithm of Roll Angular Rate for High Spinning Projectiles

Zhao

Liu

et al. 2019

Mathematical Problems in Engineering

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show abstract

“…To apply the KF using discrete data in practice, the discrete form of the state equations is required. As shown in (7) and (9), if x 3 is constant within a short period, the integration of the differential equations with respect to x 1 and x 2 can be determined. In this situation, the state variables x 1 and x 2 can be presented as follows:…”

Section: Functions For One-step State Predictionmentioning

confidence: 99%

“…The TOR method is usually performed with a three-axis magnetometer and other sensors. In [7], a three-axis magnetometer and a two-axis accelerometer is used to complete an experiment. The researchers calculated the experimental data by establishing models and formulas to obtain the attitude angle of an object.…”

Section: Introductionmentioning

confidence: 99%

Online Correction Method for Ratio Methods by Using Geomagnetic Sensors Based on Kalman Filter

Wang

Liu

2019

IEEE Access

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By eliminating the data offset caused by a disturbing magnetic field during the flying condition of a spinning projectile, an adaptive unscented Kalman filter is applied to estimate the actual data of a geomagnetic field and the false value introduced by a disturbing magnetic field. For the ratio methods related to geomagnetic attitude measurement, the physical significance of the ratios obtained by all ratio methods is clarified. A new definition for the ratio is presented to ensure online estimation and numerical stability. The variation in the sensor outputs along the lateral directions is suggested to be a harmonic motion with the assumption that the spindle is fixed or in slow motion. The true data employed as a reference for comparison is generated by a dynamics model for spinning objects and by projecting the geomagnetic field to the measurement frame. Signal gathering and data preprocessing are considered. A signal-disturbing ratio is introduced to indicate the proportions of the real geomagnetic signal and the interference signal in the data acquisition process. The algorithm of the adaptive unscented Kalman filter is discussed. Simulations are performed using a 1 kHz sample rate and a duration of 60 seconds. The filtering results supported by a conventional unscented Kalman filter and adaptive unscented Kalman filters are compared with actual data for the conditions of different signal-disturbing ratios and 10 shifts of the disturbing magnetic field. The results of the simulation indicate that the proposed adaptive unscented Kalman filter with the introduced state equation achieves better performance than other filters mentioned in the paper. The filter has the ability to provide clean data from the noisy data flow measured from a spinning projectile for the ratio methods based on the geomagnetic measurements. INDEX TERMS Geomagnetic measurement, attitude estimation, Kalman filter, data correction, ratio methods.

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“…In order to measure the attitude of the high-spin projectile, various approaches have been proposed by numerous scholars. According to published literatures, the main sensors used for high-spin attitude measurement are as follow: solar azimuth sensor [ 6 ], continuous-wave radar [ 7 ], infrared sensor [ 8 ], Global Navigation Satellite System (GNSS) [ 9 ], magnetometer [ 10 ], accelerometer [ 11 ], gyroscope, [ 12 ] and so on. The measurement based on the solar azimuth sensor has high requirements for the visible conditions of the atmosphere.…”

Section: Introductionmentioning

confidence: 99%

Roll Angular Rate Measurement for High Spinning Projectiles Based on Redundant Gyroscope System

Zhang

et al. 2020

Micromachines

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Precision-guided projectiles, which can significantly improve the accuracy and efficiency of fire strikes, are on the rise in current military engagements. The accurate measurement of roll angular rate is critical to guide a gun-launched projectile. However, Micro-Electro-Mechanical System (MEMS) gyroscope with low cost and large range cannot meet the requirement of high precision roll angular rate measurement due to the limitation by the current technology level. Aiming at the problem, the optimization-based angular rate estimation (OBARS) method specific for projectiles is proposed in this study. First, the output angular rate model of redundant gyroscope system based on the autoregressive integrated moving average (ARIMA) model is established, and then the conventional random error model is improved with the ARIMA model. After that, a Sage-Husa Adaptive Kalman Filter (SHAKF) algorithm that can suppress the time-varying process and measurement noise under the flight condition of the high dynamic of the projectile is designed for the fusion of dynamic data. Finally, simulations and experiments have been carried out to validate the performance of the method. The results demonstrate the proposed method can effectively improve the angular rate accuracy more than the related traditional methods for high spinning projectiles.

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Attitude and velocity estimation of a projectile using low cost magnetometers and accelerometers

Cited by 12 publications

References 17 publications

Extraction and Filter Algorithm of Roll Angular Rate for High Spinning Projectiles

Extraction and Filter Algorithm of Roll Angular Rate for High Spinning Projectiles

Online Correction Method for Ratio Methods by Using Geomagnetic Sensors Based on Kalman Filter

Roll Angular Rate Measurement for High Spinning Projectiles Based on Redundant Gyroscope System

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