Orientation estimation algorithm applied to high-spin projectiles

Long, Dafeng; Lin, Jie-Xian; Zhang, X M; Li, J

doi:10.1088/0957-0233/25/6/065001

Cited by 19 publications

(8 citation statements)

References 19 publications

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“…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. The solutions proposed in [13][14][15] are similar to the above solutions. All of them suffer from poor autonomy, high complexity, and vulnerability to external environmental interference.…”

Section: Introductionmentioning

confidence: 54%

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: Introductionmentioning

confidence: 54%

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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“…In [8], authors combine a magneto resistive sensor and a global position system (GPS) with a mathematical model to measure the attitude angle of a flying object in real time. In [9], a three-axis magnetometer, two single-axis gyros and a GPS receiver are utilized to receive information and an integrated filter is applied to combine them. However, the strength of the GPS signal has a considerable influence on the actual measurement, and the data may be lost due to disconnection in some cases.…”

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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“…Attitude measurement is an essential technology in projectile trajectory correction. Only a few types of attitude sensors are suitable for spinning projectiles since the sensors must withstand extremely large loads at launch and rapid spins during flight [1,2]. Magnetometers have been used for projectile attitude measurement systems as they are small in size, lightweight, and low cost [3].…”

Section: Introductionmentioning

confidence: 99%

A Fast Calibration and Compensation Method for Magnetometers in Strap-Down Spinning Projectiles

Long

Zhang

Wei

et al. 2018

Sensors

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Attitude measurement is an essential technology in projectile trajectory correction. Magnetometers have been used for projectile attitude measurement systems as they are small in size, lightweight, and low cost. However, magnetometers are seriously disturbed by the artillery magnetic field during launch. Moreover, the error parameters of the magnetometers, which are calibrated in advance, usually change after extended storage. The changed parameters have negative effects on attitude estimation of the projectile. To improve the accuracy of attitude estimation, the magnetometers should be calibrated again before launch or during flight. This paper presents a fast calibration method specific for a spinning projectile. At the launch site, the tri-axial magnetometer is calibrated, the parameters of magnetometer are quickly obtained by optimal ellipsoid fitting based on a least squares criterion. Then, the calibration parameters are used to compensate for magnetometer outputs during flight. The numerical simulation results show that the proposed calibration method can effectively determine zero bias, scale factors, and alignment angle errors. Finally, a semi-physical experimental system was designed to further verify the performance of the calibration method. The results show that pitch angle error reduces from 3.52° to 0.58° after calibration. The roll angle error is reduced from 2.59° to 0.65°. Simulations and experimental results indicate that the accuracy of magnetometer in strap-down spinning projectile has been greatly enhanced, and the attitude estimation errors are reduced after calibration.

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Orientation estimation algorithm applied to high-spin projectiles

Cited by 19 publications

References 19 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

A Fast Calibration and Compensation Method for Magnetometers in Strap-Down Spinning Projectiles

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