Non linear filtering for attitude estimation with magnetometer sensor
by
Sébastien Changey
ISL, BP 34, F 68301 Saint-Louis Cedex // Supélec, Service Automatique, 3 rue Joliot-Curie 91192 Gif-sur-Yvette cedex
Coauthors: Volker Fleck (ISL), Dominique Beauvois (Supélec)

A priori information given by the complete modelling of the ballistic behavior (trajectory, attitude) of the projectile is simplified to give a pertinent reduced evolution model. An extended Kalman filter is designed to estimate 3 angles (roll in the range [0, 2Pi], angle of attack and side-slip in the range of few milliradians) from measures of the magnetic field of the earth given by a three-axis magnetometer sensor embedded on the projectile. (the rotation matrix has been approximated and linearized).

The algorithm has been tested on simulation, using real 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 precision.

Date received: March 19, 2004

Copyright © 2004 by the author(s). The author(s) of this document and the organizers of the conference have granted their consent to include this abstract in Atlas Conferences Inc. Document # canw-14.