Roll Angle Estimation Algorithm of Geomagnetic/Gyro Combination Based on an Interacting Multiple‐Model Kalman Filter

Abstract

The knowledge of the geomagnetic and gyro information that can be used for projectile roll angle is decisive to apply trajectory correction and control law. In order to improve the measurement accuracy of projectile roll angle, an interacting multiple-model Kalman filter (IMMKF) algorithm using gyro angular rate information to geomagnetic sensor information is proposed. Firstly, the data acquisition module of the geomagnetic sensor and the gyroscope sensor is designed, and the test data of the sensors are obtained through the semiphysical experiments. Furthermore, according to the measurement accuracy of each sensor, the algorithm performs the IMMKF process on the geomagnetic/gyro information to get the roll angle. It can be proven by experiments and calculation results that the error of the roll angle obtained after processing by the IMMKF algorithm is close to 2°, which is better than the 5° calculated by adopting the Kalman filter directly with geomagnetic information.

Research on the initial roll angle algorithm of guided missile bodies based on adaptive complementary filtering

“…The initial roll angle acquisition is the basis for realizing high-precision air alignment of guided missile bodies [1][2] . For the use of guided missile bodies with large overload, high rotation, high impact, and large spatial constraints on the projectile [3] , the traditional roll angle measurement methods [4][5][6][7][8][9][10][11][12][13][14] have their own limitations, such as poor overload resistance of optical fibre inertial measurement combinations, the ease of losing the integral zero position of conventional MEMS gyroscopes in case of excessive impact, the ease of external interference in satellite attitude measurement, and the harsh requirements of geomagnetic sensors for the working environment.…”