An improved unscented Kalman filter for projectile´s attitude determination

In order to satisfy the request of real-time response, an improved unscented Kalman filter (UKF) is studied for the projectile´s attitude determination in this paper. The inertial measurement unit (IMU) used to determinate the attitude of projectile is composed of only five low-cost micro electro-mechanical system (MEMS) accelerometers. A sensor measurement data fusion scheme is designed including high and low range configuration. UKF is used to estimate the state of system. The speed of computation of UKF is improved by reducing the number of sigma points. The experimental results in three-axis flight rotary table show that the improved UKF quickly converges and satisfies the request of real-time response.