An Improved Unscented Kalman Filter for Projectiles Attitude Determination
In order to satisfy the request of real-time response, an improved unscented Kalman filter (UKF) is studied for the projectile’s attitude determination in this paper. The inertial measurement unit (IMU) used to determinate the attitude of projectile is composed of only five low-cost micro electro-mechanical system (MEMS) accelerometers. A sensor measurement data fusion scheme is designed including high and low range configuration. UKF is used to estimate the state of system. The speed of computation of UKF is improved by reducing the number of sigma points. The experimental results in three-axis flight rotary table show that the improved UKF quickly converges and satisfies the request of real-time response.
Attitude determination Sigma point Unscented Kalman filter
Yong Wang Zhide Liu Jiabin Chen Dunhui Zhao Chunlei Song
School of Automation, Beijing Institute of Technology, Beijing 100081, China
国际会议
The 22nd China Control and Decision Conference(2010年中国控制与决策会议)
徐州
英文
680-683
2010-05-26（万方平台首次上网日期，不代表论文的发表时间）