A Novel Attitude Estimation Algorithm Based on the Non-Orthogonal Magnetic Sensors.

Because the existing extremum ratio method for projectile attitude measurement is vulnerable to random disturbance, a novel integral ratio method is proposed to calculate the projectile attitude. First, the non-orthogonal measurement theory of the magnetic sensors is analyzed. It is found that the projectile rotating velocity is constant in one spinning circle and the attitude error is actually the pitch error. Next, by investigating the model of the extremum ratio method, an integral ratio mathematical model is established to improve the anti-disturbance performance. Finally, by combining the preprocessed magnetic sensor data based on the least-square method and the rotating extremum features in one cycle, the analytical expression of the proposed integral ratio algorithm is derived with respect to the pitch angle. The simulation results show that the proposed integral ratio method gives more accurate attitude calculations than does the extremum ratio method, and that the attitude error variance can decrease by more than 90%. Compared to the extremum ratio method (which collects only a single data point in one rotation cycle), the proposed integral ratio method can utilize all of the data collected in the high spin environment, which is a clearly superior calculation approach, and can be applied to the actual projectile environment disturbance.