In-flight alignment of roll angle and gyroscope calibration method for guided projectile based on adaptive Adam algorithm

Aiming at the problem that the guided projectile is difficult to implement in-flight alignment of roll angle with low-cost gyroscope, this paper proposes an in-flight alignment scheme based on the pitch angle velocity vector caused by gravity. The relationship between the rotation angular velocity measured by the gyroscope and the roll angle at the alignment time is established. In order to avoid the influence of uncalibrated MEMS gyroscope on alignment accuracy, the gyroscope error is modeled and included in the alignment equation. Then the gyroscope error is estimated and compensated by adaptive Adam algorithm. Consequently, the accuracy of alignment can be effectively improved. Mathematical simulations show that the alignment accuracy of the roll angle can be within 3 °, and the bias and installation error angle of the gyroscope can be effectively calibrated, which can improve the accuracy of inertial navigation.