TY - GEN
T1 - An improved square root unscented Kalman filter for projectile's attitude determination
AU - Liu, Zhide
AU - Chen, Jiabin
AU - Yao, Xingtai
AU - Song, Chunlei
AU - Wang, Yong
PY - 2010
Y1 - 2010
N2 - In this paper, considering the performance of short- time working, inertial flight and high impulse of launch for projectile, an improved square root unscented Kalman filter (UKF) is used. According to the special motional rule of projectile, only use three low-cost MEMS accelerometers as inertial measurement unit to measure the specific force, and construct the linear state equation and nonlinear measurement equation of nonlinear system. Use the square root UKF to estimate the state of system, which effectively enhances the stability of filter and restrains the divergence of filter. Reduce the number of sigma points from 2n+1 to n+2, which improves the computational efficiency and real-time performance of filter. The experimental results in a three-axis flight test rotary table show that the improved square root UKF obtains the good precision of estimation and satisfies the request of real-time response.
AB - In this paper, considering the performance of short- time working, inertial flight and high impulse of launch for projectile, an improved square root unscented Kalman filter (UKF) is used. According to the special motional rule of projectile, only use three low-cost MEMS accelerometers as inertial measurement unit to measure the specific force, and construct the linear state equation and nonlinear measurement equation of nonlinear system. Use the square root UKF to estimate the state of system, which effectively enhances the stability of filter and restrains the divergence of filter. Reduce the number of sigma points from 2n+1 to n+2, which improves the computational efficiency and real-time performance of filter. The experimental results in a three-axis flight test rotary table show that the improved square root UKF obtains the good precision of estimation and satisfies the request of real-time response.
KW - Attitude determination
KW - Reduced sigma point
KW - Square root
KW - Unscented Kalman filter
UR - http://www.scopus.com/inward/record.url?scp=77956043486&partnerID=8YFLogxK
U2 - 10.1109/ICIEA.2010.5515293
DO - 10.1109/ICIEA.2010.5515293
M3 - Conference contribution
AN - SCOPUS:77956043486
SN - 9781424450466
T3 - Proceedings of the 2010 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
SP - 1747
EP - 1751
BT - Proceedings of the 2010 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
T2 - 5th IEEE Conference on Industrial Electronics and Applications, ICIEA 2010
Y2 - 15 June 2010 through 17 June 2010
ER -