State estimation

Patent metadata

Field	Value
Publication number	US-10907936-B2
Application number	US-201916414851-A
Country	US
Kind code	B2
Filing date	May 17, 2019
Priority date	May 17, 2019
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

A system and method for state estimation in spinning projectiles is provided. The state estimation is based, at least in part, on magnetic sensor data, angular velocity data, and correction terms applied to the magnetic sensor data and the angular velocity data. The system and method for state estimation in spinning projectiles estimates roll angles and roll rates of the spinning projectiles. The roll angle and roll rate estimates allow steering commands to be applied to steer the spinning projectiles in the proper direction.

First claim

The invention claimed is:

1. A method comprising:
providing known geomagnetic field vectors to a spinning projectile;
firing the spinning projectile from a launch assembly towards a target;
estimating a sensor offset of at least one magnetic sensor;
estimating a first distortion caused by a first source of distortion; wherein the first source of distortion is a permanent magnetic field of the spinning projectile;
estimating at least one second distortion caused by at least one second source of distortion;
estimating, with the at least magnetic sensor, a magnetic data output associated with a local magnetic field relative to the spinning projectile;
removing the estimated sensor offset, the estimated first distortion, and the estimated at least one second distortion from the magnetic data output associated with the local magnetic field to provide a corrected magnetic data output associated with the local magnetic field;
determining corrected geomagnetic field vectors of the spinning projectile based, at least in part, on the known geomagnetic field vectors and the corrected magnetic data output associated with the local magnetic field;
determining an elevation of the spinning projectile;
determining an azimuth of the spinning projectile;
estimating a roll angle of the spinning projectile based, at least in part, on the corrected geomagnetic field vectors of the spinning projectile, the elevation of the spinning projectile, and the azimuth of the spinning projectile;
estimating, with at least one angular rate sensor, a roll rate of the spinning projectile;
integrating the estimated roll rate;
merging the estimated roll angle with the integrated estimated roll rate to provide an updated estimated roll angle of the spinning projectile and an estimated bias of the at least one angular rate sensor; and
removing the bias of the at least one angular rate sensor to provide an updated estimated roll rate of the spinning projectile.

2. The method of claim 1 , further comprising:
steering the spinning projectile based, at least in part, on the updated estimated roll angle of the spinning projectile.

3. The method of claim 1 , further comprising:
steering the spinning projectile based, at least in part, on the updated estimated roll rate of the spinning projectile.

4. The method of claim 1 , further comprising:
allowing the spinning projectile to complete at least one revolution before estimating the sensor offset of the at least one magnetic sensor and the first distortion caused by the first source of distortion.

5. The method of claim 1 , wherein the at least one second distortion is an induced magnetic field of the spinning projectile; the method further comprising:
applying a correction matrix to the magnetic data output associated with the local magnetic field to remove the induced magnetic field of the spinning projectile.

6. The method of claim 1 , wherein the at least one second distortion is at least one magnetic field produced by at least one current; the method further comprising:
applying a calibration coefficient to the magnetic data output associated with the local magnetic field to remove effects of the at least one magnetic field produced by the at least one current.

7. The method of claim 1 , further comprising:
providing a precision guidance kit on the spinning projectile.

8. The method of claim 1 , wherein merging the estimated roll angle with the integrated estimated roll rate to provide an updated estimated roll angle of the spinning projectile and an estimated bias of the at least one angular rate sensor is accomplished via a Kalman filter.

9. The method of claim 1 , wherein the at least one magnetic sensor is a three-axis magnetometer.

10. The method of claim 1 , wherein the at least one angular rate sensor is a roll gyro.

11. A state estimation system for a spinning projectile, comprising:
at least one processor that receives known geomagnetic field vectors;
at least one magnetic sensor that estimates a magnetic data output associated with a local magnetic field relative to the spinning projectile;
a first source of distortion providing a first distortion; wherein the first source of distortion is a permanent magnetic field of the spinning projectile;
first estimation logic that estimates a sensor offset of the at least one magnetic sensor;
second estimation logic that estimates the first distortion;
at least one second distortion source providing at least one second distortion;
third estimation logic that estimates the second distortion;
first correction logic that removes the estimated sensor offset, the estimated first distortion, and the estimated at least one second distortion from the magnetic data output associated with the local magnetic field to provide a corrected magnetic data output associated with the local magnetic field; and
geomagnetic logic that determines corrected geomagnetic field vectors of the spinning projectile based, at least in part, on the known geomagnetic field vectors and the corrected magnetic data output associated with the local magnetic field;
elevation logic that determines an elevation of the spinning projectile;
azimuth logic that determines an azimuth of the spinning projectile;
roll angle estimation logic that estimates a roll angle of the spinning projectile based, at least in part, on the corrected geomagnetic field vectors of the spinning projectile, the elevation of the spinning projectile, and the azimuth of the spinning projectile;
at least one angular rate sensor that estimates a roll rate of the spinning projectile;
integration logic that integrates the estimated roll rate;
merging logic that merges the estimated roll angle with the integrated estimated roll rate to provide an updated estimated roll angle of the spinning projectile and an estimated bias of the at least one angular rate sensor; and
second correction logic that removes the bias of the at least one angular rate sensor to provide an updated estimated roll rate of the spinning projectile.

12. The state estimation system of claim 11 , further comprising:
steering logic that steers the spinning projectile based, at least in part, on the updated estimated roll angle of the spinning projectile.

13. The state estimation system of claim 11 , further comprising:
steering logic that steers the spinning projectile based, at least in part, on the updated estimated roll rate of the spinning projectile.

14. The state estimation system of claim 11 , further comprising:
a central longitudinal axis of the spinning projectile; and
a first magnetic field vector of the at least one magnetic sensor positioned along the central longitudinal axis of the spinning.

15. The state estimation system of claim 14 , further comprising:
a second magnetic field vector of the at least one magnetic sensor orthogonal to the first magnetic field vector; and
a third magnetic field vector of the at least one magnetic sensor orthogonal to the first magnetic field vector.

16. The state estimation system of claim 11 , further comprising:
a precision guidance kit carried by the spinning projectile; wherein the precision guidance kit comprises:
a canard assembly including at least one canard that is moveable.

17. The state estimation system of claim 16 , wherein the at least one magnetic sensor and the at least one angular rate sensor are carried by the precision guidance kit.

18. The state estimation system for a spinning projectile of claim 11 , wherein the at least one magnetic sensor is a three-axis m

Assignees

• Bae Sys Inf & Elect Sys Integ

Inventors

• Zemany Paul D
• Chrobak Matthew F
• Degtiarev Egor V

Classifications

• F41G7/2246 Primary

  Active homing systems, i.e. comprising both a transmitter and a receiver · CPC title

• G05D1/108 Primary

  animated with a rolling movement · CPC title

• F41G7/2293

  using electromagnetic waves other than radio waves · CPC title

• F41G7/2213

  maintaining the axis of an orientable seeking head pointed at the target, e.g. target seeking gyro · CPC title

• F41G7/222

  for spin-stabilized missiles · CPC title