Cargando…
Real-Time Attitude Estimation for Spinning Projectiles by Magnetometer Based on an Adaptive Extended Kalman Filter
The attitude measurement system based on geomagnetic information offers advantages such as small space requirements, fast response times, excellent resistance to high-overload conditions, and cost-effectiveness. However, during the flight process of a high-mobility guided spinning projectile, calcul...
Autores principales: | , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10673556/ https://www.ncbi.nlm.nih.gov/pubmed/38004857 http://dx.doi.org/10.3390/mi14112000 |
_version_ | 1785140650564386816 |
---|---|
author | Zhang, Ge Zhang, Xiaoming Gao, Lizhen Liu, Jun Zhou, Jie |
author_facet | Zhang, Ge Zhang, Xiaoming Gao, Lizhen Liu, Jun Zhou, Jie |
author_sort | Zhang, Ge |
collection | PubMed |
description | The attitude measurement system based on geomagnetic information offers advantages such as small space requirements, fast response times, excellent resistance to high-overload conditions, and cost-effectiveness. However, during the flight process of a high-mobility guided spinning projectile, calculating attitude based on geomagnetic information often leads to non-unique solutions. To address this challenge, this paper proposes the Adaptive Extended Kalman Filter (AEKF) attitude estimation algorithm, based on geomagnetic vector information. Based on the analysis of the short-term attitude motion characteristics of the projectile, the Kalman state system equation and the nonlinear observation equation are established, along with real-time correction of the yaw angle and adaptive updates of parameters. The effectiveness of the algorithm is verified by simulations and experiments, demonstrating its ability to eliminate the dual solution problem inherent in traditional Single-Epoch algorithms. It notably improves the accuracy of pitch and roll angle estimation while providing precise estimates of attitude angular rates. Furthermore, the algorithm effectively mitigates the impact of magnetic disturbances on attitude determination. The proposed method has many potential applications in attitude measurement and navigation using geomagnetic data. |
format | Online Article Text |
id | pubmed-10673556 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-106735562023-10-28 Real-Time Attitude Estimation for Spinning Projectiles by Magnetometer Based on an Adaptive Extended Kalman Filter Zhang, Ge Zhang, Xiaoming Gao, Lizhen Liu, Jun Zhou, Jie Micromachines (Basel) Article The attitude measurement system based on geomagnetic information offers advantages such as small space requirements, fast response times, excellent resistance to high-overload conditions, and cost-effectiveness. However, during the flight process of a high-mobility guided spinning projectile, calculating attitude based on geomagnetic information often leads to non-unique solutions. To address this challenge, this paper proposes the Adaptive Extended Kalman Filter (AEKF) attitude estimation algorithm, based on geomagnetic vector information. Based on the analysis of the short-term attitude motion characteristics of the projectile, the Kalman state system equation and the nonlinear observation equation are established, along with real-time correction of the yaw angle and adaptive updates of parameters. The effectiveness of the algorithm is verified by simulations and experiments, demonstrating its ability to eliminate the dual solution problem inherent in traditional Single-Epoch algorithms. It notably improves the accuracy of pitch and roll angle estimation while providing precise estimates of attitude angular rates. Furthermore, the algorithm effectively mitigates the impact of magnetic disturbances on attitude determination. The proposed method has many potential applications in attitude measurement and navigation using geomagnetic data. MDPI 2023-10-28 /pmc/articles/PMC10673556/ /pubmed/38004857 http://dx.doi.org/10.3390/mi14112000 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zhang, Ge Zhang, Xiaoming Gao, Lizhen Liu, Jun Zhou, Jie Real-Time Attitude Estimation for Spinning Projectiles by Magnetometer Based on an Adaptive Extended Kalman Filter |
title | Real-Time Attitude Estimation for Spinning Projectiles by Magnetometer Based on an Adaptive Extended Kalman Filter |
title_full | Real-Time Attitude Estimation for Spinning Projectiles by Magnetometer Based on an Adaptive Extended Kalman Filter |
title_fullStr | Real-Time Attitude Estimation for Spinning Projectiles by Magnetometer Based on an Adaptive Extended Kalman Filter |
title_full_unstemmed | Real-Time Attitude Estimation for Spinning Projectiles by Magnetometer Based on an Adaptive Extended Kalman Filter |
title_short | Real-Time Attitude Estimation for Spinning Projectiles by Magnetometer Based on an Adaptive Extended Kalman Filter |
title_sort | real-time attitude estimation for spinning projectiles by magnetometer based on an adaptive extended kalman filter |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10673556/ https://www.ncbi.nlm.nih.gov/pubmed/38004857 http://dx.doi.org/10.3390/mi14112000 |
work_keys_str_mv | AT zhangge realtimeattitudeestimationforspinningprojectilesbymagnetometerbasedonanadaptiveextendedkalmanfilter AT zhangxiaoming realtimeattitudeestimationforspinningprojectilesbymagnetometerbasedonanadaptiveextendedkalmanfilter AT gaolizhen realtimeattitudeestimationforspinningprojectilesbymagnetometerbasedonanadaptiveextendedkalmanfilter AT liujun realtimeattitudeestimationforspinningprojectilesbymagnetometerbasedonanadaptiveextendedkalmanfilter AT zhoujie realtimeattitudeestimationforspinningprojectilesbymagnetometerbasedonanadaptiveextendedkalmanfilter |