Research on Non-gyro Projectile's Attitude Measurement Based on Improved Unscented Kalman Filter

摘要

Considering the control requirements of guided projectile, a novel method is studied that using three low-cost MEMS accelerometers as inertial measurement unit to construct state equation and measurement equation of system, using improved unscented Kalman filter (IUKF) to estimate the state of system. For the system characteristic of linear state equation and nonlinear measurement equation, the improved UKF nonlinear filter algorithm which combines KF and UKF was proposed. At the same time, utilizing minimal skew simplex sampling to reduce the number of sigma points, computational efficiency is enhanced. The simulation experimental results show that using IUKF algorithm can obtains good precision of estimation.