Title :
A mixed extended-unscented filter for attitude estimation with magnetometer sensor
Author :
Changey, Sebastien ; Beauvois, Dominique ; Fleck, Volker
Author_Institution :
French-German Res. Inst. of Saint-Louis
Abstract :
A priori information given by the complete modelling of the ballistic behavior (trajectory, attitude) of a projectile is simplified to give a pertinent reduced evolution model. A new mixed Kalman filter based on Extended and unscented Kalman filter is designed to estimate 3 attitude angles from measures of the magnetic field of the Earth given by a three-axis magnetometer sensor embedded on the projectile. The algorithm has been tested in simulation, using realistic evolution of attitude data for a shot with a 155 mm rotating projectile over a distance of 16 km, with wind and measurement noise. The results show that we can estimate milliradians with non-linear equations and approximations, with good accuracy
Keywords :
Kalman filters; attitude control; magnetic field measurement; magnetometers; nonlinear equations; attitude estimation; ballistic behavior; extended Kalman filter; magnetic field; mixed Kalman filter; mixed extended-unscented filter; nonlinear equations; projectile attitude; projectile trajectory; reduced evolution model; three-axis magnetometer sensor; unscented Kalman filter; Earth; Filters; Goniometers; Magnetic field measurement; Magnetic sensors; Magnetic separation; Magnetometers; Projectiles; Rotation measurement; Testing;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657158
