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.