A Mixed Extended-Unscented Filter for Attitude Estimation with Magnetometer Sensor
| Autor: | Dominique Beauvois, Sébastien Changey, Volker Fleck |
|---|---|
| Přispěvatelé: | SUPELEC-Campus Gif, Ecole Supérieure d'Electricité - SUPELEC (FRANCE), Dartron, Josiane |
| Jazyk: | angličtina |
| Rok vydání: | 2006 |
| Předmět: |
Physics
020301 aerospace & aeronautics 0209 industrial biotechnology Magnetometer Projectile 02 engineering and technology Kalman filter Trajectory of a projectile law.invention Attitude control Noise Extended Kalman filter 020901 industrial engineering & automation 0203 mechanical engineering law Control theory Trajectory ComputingMilieux_MISCELLANEOUS |
| Zdroj: | Proceedings ACC 2006 American Control Conference ACC 2006 American Control Conference ACC 2006 American Control Conference, Jun 2006, Minneapolis, United States. pp.CD-ROM |
| Popis: | A priori information given by the complete modelling of the ballistic behavior (trajectory, attitude) of a projectile is simplified to give a pertinent reduced evolution model. A new mixed Kalman filter based on Extended and unscented Kalman filter is designed to estimate 3 attitude angles from measures of the magnetic field of the Earth given by a three-axis magnetometer sensor embedded on the projectile. The algorithm has been tested in simulation, using realistic evolution of attitude data for a shot with a 155 mm rotating projectile over a distance of 16 km, with wind and measurement noise. The results show that we can estimate milliradians with non-linear equations and approximations, with good accuracy. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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