基于改进型卡尔曼滤波旋转弹姿态测试-attitude test of rotary projectile based on improved kalman filter.docx

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基于改进型卡尔曼滤波旋转弹姿态测试-attitude test of rotary projectile based on improved kalman filter.docx

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基于改进型卡尔曼滤波旋转弹姿态测试-attitude test of rotary projectile based on improved kalman filter

中北大学学位论文AttitudeTestofRotatingBombbasedonImprovedKalmanFilterPostureAbstractWiththecontinuousdevelopmentofaerospacenavigationtechnology,scienceandtechnologychangingeveryday,designandalgorithmofnavigationsystemgraduallymaturearoundtheworld.Theauthenticityandintegrityofthetestsystem,accuracyofsolveralgorithm,requirementsoftheerrorrangearealsoincreasing.Becauseofshort-termdrifterrorseriousongyrosensor,geomagneticsensorerrordoesnotaccumulateovertime,andmeasurementsprotectedfromtheweather,accordingtotheneedsofthesubject,thechoiceofthegeomagneticsensorandgyrosensorcombination,socanmakeupforthedisadvantagesandintegrationofinformationtoimprovetheaccuracy.Inthispaper,thestoragetestsystemwasdesignedandsimulationexerciseandliveinformationwascollected,andimprovedalgorithmsolverdata,providesvaluablemethodsanddataforfutureresearchonattitudesolver.Aftercarefullystudyingandanalyzingthebasicprinciplesandmethodsofstoragetesting,thebackgroundknowledgeoftestsystemattitudeinformationsolveralgorithm,conductedthefollowingworkandresearch:Accordingtotheneedsofsmallrotarybombattitudestoragetestsystem,amasterchipisdesignedforCPLDandAVRmicrocontroller,usingthesystemtocollectandstorethesensorinformation.UsingPBneuralnetworktostatisticaltheerrordisciplineoftestsystem,accordingtothesestatistics,trainingattitudeangleerrormodel,theuseofweightatocorrectKalmanfiltergain,improvedKalmanfilterisdesigned.Thetestsystemisdesignedandinstalledtoturntable,wastestedandusingliveammunition,improvedKalmanfilteralgorithmhasbeenverifiedonsimulatedtestdataandmeasureddata.中北大学学位论文Theresultsshowthat:thedatacollectedbyprojectileduringoperationsensor,canbecompletelytruelyrecordbyrotarybombattitudestoragetestsystem,improvedKalmanfilteralgorithmsolvercanachieveaccuracyrequirements,paredtoconventionalKalmanfilter.Keywords:Attitudealgorithm;BPneuralnetwork;KalmanFilter;Accelerometer;Gyro中北大学学位论文目录1绪论1.1本课题的研究背景及意义..........................................................................................11.2国内外的研究状况..........