Research On Terminal-sensitive Ammunition Without Parachute Attitude Measurement Based On Kalman Filter

Terminal sensitive Projectile is a low-cost intelligent ammunition, can efficiently destroy destroy armored targets, measurement sensitivity Projectile motion parameters important in its developed. With the progress of the study of micro inertial sensors, micro inertial measurement system has a low cost, the precision, small size, low power consumption, high overload, high reliability features. In this paper, the end of the non-sensitive bomb umbrella attitude measurement problem, use a low-cost micro-inertial measurement unit, the Kalman filter is designed to estimate the end of the motion-sensitive bomb in the air gesture to give sensitivity Projectile scanning motion parameters.According to the theory of aerodynamics, the forces of the scanning sensitivity Projectile motion is analyzed to establish the sensitivity Projectile scanning differential equations of motion. Bouncing body established at the end of the coordinate system and navigation reference coordinate system used to describe the sensitivity Projectile posture and motion parameters obtained relationship between the scanning sensitivity Projectile in the scanning angle and scanning speed and attitude angle.According to the principle of a combination of attitude measurement system were designed EKF, UKF and CKF algorithm to quaternion as a state vector in accelerometer and geomagnetic sensor output data as the observation vector to achieve a data fusion, a more accurate estimate of the sensitivity projectile attitude angle. For sensitivity Projectile speed rotation of the accelerometer output impact problem, judging by the accelerometer output error to change the measurement noise matrix, which effectively improves the dynamic conditions at high attitude estimation accuracy.Experiments show the effectiveness of the algorithm, and finally the algorithm is applied to the air delivery model sensitivity Projectile tests, used to scan sensitivity Projectile motion parameters measured, designed to serve sensitivity Projectile The test platform, the use of unmanned aerial vehicles conducted sensitivity projectile air delivery test, and Kalman Filter algorithm used in the sensitivity projectile attitude algorithm, scanning sensitivity projectile motion parameters obtained, the researchers scanned the motion characteristics of sensitivity projectile shape and sensitivity projectile and structural design improvements provide an experimental basis and guidance.