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- W2247404886 abstract "Accurate local vertical (roll angle) estimates are requiredfor guided artillery shells in order to correctly implementguidance commands. Although GPS and IMU data willtypically be merged in the navigation filter to estimatelocal vertical as well as position and velocity, it isdesirable to estimate local vertical in the absence of GPSdata since this data will not be available at the start offlight and could drop out or be corrupted during flight.This study was undertaken to evaluate the performance oflocal vertical estimators which use only inertia1 sensors.More specifically, we consider local vertical estimationusing gravity turn rate (flight path angle rate induced bygravity) information obtained using only on-boardstrapdown micromechanical gyros. A four state Kalmanfilter has been developed and tested using a Monte Carlosimulation and a typical micromechanical gyro errorbudget. The choice of four states depends strongly on theassumption that the spin rate of the navigation base willby relatively low (a few Hz) throughout the flight. Atextremely low or extremely high spin rates, other filterswould be required and performance may be quite different.Results were simulated for an Extended Range GuidedMunition (ERGM) she11 over a planar ballistic path witha range of 6.4 nautical miles and a flight time of 60seconds. It was found that local vertical can be acquired inless than ten seconds and can be tracked to within an rmserror of less than ten degrees throughout the flight.Versions of the filter based on both known and unknownflight path angle rates were developed and tested. Theresults indicate that both versions perform well, but thatthe filter using known flight path angle rate tends toproduce smoother error histories. Robustness of the filterwas demonstrated in the presence of realistic disturbances.Estimation with large roll gyro errors was considered(biases as high as 0.5 rad/sec). An extended Kalman filterwas used to estimate roll gyro error in a five state filterand retain good performance." @default.
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- W2247404886 date "1996-06-21" @default.
- W2247404886 modified "2023-09-27" @default.
- W2247404886 title "Autonomous Local Vertical Determination for Guided Artillery Shells" @default.
- W2247404886 hasPublicationYear "1996" @default.
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