Application of EKF for missile attitude estimation based on “SINS/CNS” integrated guidance system

To get high-precision attitude of missile in “SINS/CNS” integrated guidance system, which has significant affected the attitude control system and accuracy of error separation, for example, the gyro drift, we built “SINS/CNS” measurement amendment program of missile boost phase for remote-range ballistic missile. Extended Kalman filter is applied to determine real-time, high-precision missile attitude in the program, and the quaternion kinematics equation is established and the inertial navigation system with the star sensor observation data fusion to estimate the error of inertial compensation. Simulations shows that the approach meets the engineering practice because attitude determination can achieve fast convergence and high accuracy compared with QUEST, MLS, inertial iterative algorithm used in practice now.