Real-time attitude propagation algorithm for high spinning flying bodies

Abstract

Aiming at the problem that the roll angular rate of the high spinning flying body cannot be measured, and the attitude cannot be propagated in real-time, this paper uses only two radial magnetometers and two radial gyroscopes to propose a new real-time attitude propagation mechanism. Firstly, based on the radial magnetometer data, combined with an extended Kalman filter, the real-time estimations of the roll angular rate are performed. Secondly, an attitude updating algorithm matching with the low-cost MEMS sensors is provided. Besides, an attitude error periodic correction algorithm is proposed to correct the attitude errors introduced by the roll angular rate errors. Finally, a series of numerical simulations and flight tests were carried out to verify the performance of the proposed algorithms. The results show that the proposed algorithm has high estimation accuracy for roll angular rate and attitude propagation.