激光驾束导弹制导控制辅助惯性器件滤波

针对某型激光驾束导弹微机电(micro electro mechanical systems, MEMS)速率陀螺仪和加速度计测量噪声大的问题，提出采用姿控舵偏角和过载指令实现陀螺仪和加速度计的滤波。首先，基于姿态运动学建立MEMS速率陀螺滤波方程；其次，结合局部模型跟踪控制律特点，引入过载指令与实际过载的近似数学描述，建立加速度计滤波方程；最后，采用无迹卡尔曼滤波(unscented Kalman filter, UKF)实现对三轴角速率、两轴加速度、攻角及侧滑角的辅助估计。半实物仿真试验表明，该算法可以将速率陀螺误差及加速度计误差分别降低至16%和30%，同时对攻角和侧滑角的估计偏差约为0.03°，证明算法有效。

Inertial components filtering of laser beam riding missile aided by guidance and control information

To solve the problem that in one certain type of laser beam riding missile, the measurement error of the angular rate and the acceleration is relatively large due to the noise characteristics of micro electro mechanical systems (MEMS) components, a new filtering method of the gyroscope and the accelerometer aided by the attitude control rudder angle and guidance command is proposed. First, the filtering equation of the MEMS gyroscope is established based on the attitude dynamics; second, the partial model following control law is analyzed to build the mathematical relation between the overload command and the actual overload, based on which the filtering equation of the accelerometer is derived; third, the unscented Kalman filter (UKF) is employed to realize the estimation of the three axis angular rate, two axis acceleration, angle of attack, and slip angle. The result of hardware in loop simulation implies that the estimation error of the angular rate and the acceleration is reduced respectively to 16% and 10%, and the estimation error of the angle of attack and the slip angle is about 0.03 degree, which proves the validity of the algorithm.