Attitude Test Of Rotating Bomb Based On Improved Kalman Filter Posture

With the continuous development of aerospace navigation technology, science andtechnology changing everyday, design and algorithm of navigation system gradually maturearound the world. The authenticity and integrity of the test system, accuracy of solveralgorithm, requirements of the error range are also increasing. Because of short-term drifterror serious on gyro sensor, geomagnetic sensor error does not accumulate over time, andmeasurements protected from the weather, according to the needs of the subject, the choiceof the geomagnetic sensor and gyro sensor combination, so can make up for thedisadvantages and integration of information to improve the accuracy. In this paper, thestorage test system was designed and simulation exercise and live information was collected,and improved algorithm solver data, provides valuable methods and data for future researchon attitude solver.After carefully studying and analyzing the basic principles and methods of storagetesting, the background knowledge of test system attitude information solver algorithm,conducted the following work and research:(1) According to the needs of small rotary bomb attitude storage test system, a masterchip is designed for CPLD and AVR microcontroller, using the system to collect and storethe sensor information.(2) Using PB neural network to statistical the error discipline of test system, accordingto these statistics, training attitude angle error model, the use of weight a to correct Kalmanfilter gain, improved Kalman filter is designed.(3) The test system is designed and installed to turntable, was tested and using liveammunition, improved Kalman filter algorithm has been verified on simulated test data andmeasured data. The results show that: the data collected by projectile during operation sensor, can becompletely truely record by rotary bomb attitude storage test system, improved Kalmanfilter algorithm solver can achieve accuracy requirements, projectile attitude informationsolver accuracy is improved.compared to conventional Kalman filter.