A Novel Method for Estimating Pitch and Yaw of Rotating Projectiles Based on Dynamic Constraints

An, Liangliang; Wang, Liangming; Liu, Ning; Fu, Jianlong; Zhong, Yang

doi:10.3390/s19235096

Cited by 6 publications

(4 citation statements)

References 45 publications

(44 reference statements)

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“…When M by � 0, a calculation blind spot occurs in equation (15). As can be seen from Figure 3(b), axis OY 1 rotates to an angle perpendicular to the direction of the Earth's magnetic field and the roll angle should be either π/2 or 3π/2, depending on the sign of M bz .…”

Section: Longitudinal Rotationmentioning

confidence: 99%

“…Li et al [14] proposed a scheme for constructing a combinatory attitude determination system using a magnetometer and an inertial sensor, but the scheme ignored the influence of magnetic declination in the calculation process. An et al [15] proposed a novel method for estimating the pitch and yaw angles of the projectile through a special combination of magnetometers, but did not estimate its roll angle due to the extremely high rotational speed. All the abovementioned combinatory attitude measurement methods focus on the post-processing of measurement data, which indicates that insufficient effort has been dedicated to study the pattern of attitude variations.…”

Section: Introductionmentioning

confidence: 99%

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Combinatory Attitude Determination Method for High Rotational Speed Rigid-Body Aircraft

Wang

Liu

et al. 2020

Mathematical Problems in Engineering

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In this paper, we present a novel multisensor combinatory attitude determination method that enables high-accuracy measurement of the attitude of a high rotational speed rigid-body aircraft. We analyze the external moments of the aircraft during flight and develop the method using theoretical deductions based on the motion equations of a rigid body rotating around the centroid. The proposed method fuses the data measured from GPS, gyrometer, and magnetometer and uses the improved unscented Kalman filter (UKF) algorithm to perform filtering. First, appropriate assumptions and simplifying approximations are made for around-centroid motion equations of a rigid body according to the motion characteristics of the high rotational speed aircraft. Using these assumptions and approximations, the constraint equations between the Euler attitude angles and flight-path angle, trajectory deflection angle are derived to serve as the state equation. Second, the roll angle with error is calculated using the geomagnetic field model and the geomagnetic intensity measured by a three-axis magnetometer and then fused with the angular velocity information obtained from the gyroscope for constructing the measurement equations. Finally, the state equations are discretized using the Runge–Kutta method during the UKF prediction stage, improving the prediction accuracy. Simulation results show that the proposed method can effectively determine the attitude information of the high rotational speed aircraft, achieving high level of reliability and accuracy thanks to the combination of information from GPS, gyroscope, and magnetometer.

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Section: Longitudinal Rotationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Combinatory Attitude Determination Method for High Rotational Speed Rigid-Body Aircraft

Wang

Liu

et al. 2020

Mathematical Problems in Engineering

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“…The radial components of the magnetometer are used to observe the roll angle and determine the spin rate, while the axial magnetometer is used to observe the pitch angle. Radial magnetometer data have also been considered in [17] to derive pitch and yaw estimates based on the zero-crossing method and dynamic constraint equations. In [18], an attitude kinematic model using the body angular momentum of a spacecraft updated by a star tracker is developed.…”

Section: Introductionmentioning

confidence: 99%

A Gyroless Algorithm with Multi-Hypothesis Initialization for Projectile Navigation

Jardak

Adam

Changey

2021

Sensors

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Projectiles are subjected to a high acceleration shock at launch (20,000 g and higher) and can spin very fast. Thus, the components of onboard navigation units must therefore withstand such constraints in addition to being inexpensive. This makes only a few inertial sensors suitable for projectiles navigation. Particularly, rate gyroscopes which are gun-hardened and have an appropriate operating range are not widely available. On the other hand, magneto-resistive sensors are inexpensive and can satisfy both gun-hardening and operating range requirements, making them an alternative for angular estimation in guided projectiles. This paper presents a gyroless navigation algorithm for projectiles. The lack of gyroscope is handled by the usage of attitude kinematics computed over past attitude estimates of the filter, coupled with a measurement model based on magnetometer and GPS observations of the attitude. The observability of the attitude when considering non-calibrated magnetometers and its dependency on the initialization is addressed. Then, to cope with the initialization dependency of the filter, we proposed a multi-hypothesis initialization algorithm. In terms of performance, the algorithm is shown to provide a high-rate navigation solution with an interesting performance.

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“…With the development of the low-cost intelligent ammunitions, rapid and low-cost measurement of the missile attitude has become one of the hotspots in the intelligent ammunition research. Apart from specific mission oriented discussions, the conducted researches for missile attitude measurement mainly focus on solving the following two problems: how to realize the high-precision attitude estimation under the premise of cost control, and how to reduce the amount of computation to complete real-time calculations on the lowcost processor [1], [2], [3]. Accordingly, a sound real-time algorithm becomes the key to the low-cost and accurate…”

mentioning

confidence: 99%

Magnetometer Calibration and Missile Attitude Filtering Method Based on Energy Estimation

Yan

Dunzhuo²,

Zhao³

et al. 2022

IEEE Access

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Estimating the flying attitude of the missile body during flight is vitally important for the intelligent ammunition. The earlier and more accurate the posture information is obtained, the more conducive it is to the control process of the intelligent ammunition. The magnetometer is commonly used to measure the roll attitude of the missile. However, the cumbersome calibration steps and noise interference of the missile usually cause the delay in the attitude calculation and inaccurate measurement. To solve these issues, an adaptive reconfigurable unscented Kalman filter (ARUKF) method based on energy estimation is proposed. The magnetic field measured by the magnetometer is analyzed in real time based on the roll characteristic of the intelligent ammunition to achieve the initial calibration of the magnetometer parameters. With the obtained calibrated parameters, the filter state variables are estimated by establishing the residual estimation function in the UKF, which guides the reconstruction of the UKF to minimize the computational cost of the attitude estimation process. Simultaneously, the on-board computer system feeds back the action of the rudder system in real time to guide the configuration of the noise parameters in the UKF process, which can effectively reduce the interference of the magnetic field generated by the rudder system on the attitude estimation. The numerical simulation and experiments show that the proposed method performs better in terms of parameter convergence speed and estimation accuracy, compared with the traditional UKF method, which has great application prospect in the field of intelligent ammunition.

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A Novel Method for Estimating Pitch and Yaw of Rotating Projectiles Based on Dynamic Constraints

Cited by 6 publications

References 45 publications

Combinatory Attitude Determination Method for High Rotational Speed Rigid-Body Aircraft

Combinatory Attitude Determination Method for High Rotational Speed Rigid-Body Aircraft

A Gyroless Algorithm with Multi-Hypothesis Initialization for Projectile Navigation

Magnetometer Calibration and Missile Attitude Filtering Method Based on Energy Estimation

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