基于平方根无迹滤波的滚转弹姿态估计
Estimation of the Attitude of a Rolling Missile Based on Square Root-unscented Kalman Filter
Received date: 2009-10-14
Online published: 2025-05-28
给出一种基于平方根无迹卡尔曼滤波器(SR-UKF)的滚转弹飞行姿态获取方法。使用一个双轴角速率陀螺构成滚转弹飞行姿态遥测系统,利用SR-UKF对遥测数据进行处理,以重构弹体飞行姿态。针对低速滚转弹姿态运动模型的强非线性,运用SR-UKF算法进行姿态运动估计,避免了扩展卡尔曼滤波(EKF)产生的线性化误差。运用低速滚转弹姿态运动模型,导出了一组基于SR-UKF的迭代滤波方程。将基于SR-UKF算法与EKF及UKF的估计结果进行了对比,仿真结果验证了算法的有效性。
关键词： 滚转弹; 姿态估计; 扩展 Kalman 滤波器; 平方根无迹 Kalman 滤波; 遥测
邹益民 . 基于平方根无迹滤波的滚转弹姿态估计[J]. 弹箭与制导学报, 2010 , 30(4) : 41 -44 . DOI: 10.15892/j.cnki.djzdxb.2010.04.035
A scheme of estimating the flight attitude of a rolling missile based on square root-unscented Kalman filter(SR-UKF) was proposed. To get the attitude of an experimental missile, a telemetry scheme based on two-axis liquid-droved rate gyroscope was studied. The telemetric data was processed by SR-UKF to reconstruct the attitude of missile. Aiming at the non-linearity of dynamic model of rolling missile, the scheme of attitude estimation algorithm based on square root-unscented Kaman filter (SR-UKF) was used to eliminate the errors caused by linearization of extended Kalman filter (EKF). Using the dynamic attitude model of low rate rolling missile, a group of iterative filter equations based on SR-UKF were educed. The estimation result obtained form the proposed algorithm was compared with EKF and UKF ones, which showed the effectiveness of the proposed algorithm.
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