PROCEEDINGS ARTICLE | May 17, 2007
Proc. SPIE. 6538, Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VI
KEYWORDS: Sensors, Matrices, Error analysis, Magnetism, Computer simulations, Magnetic sensors, Magnetometers, Stochastic processes, Systems modeling, Filtering (signal processing)
In this note we focus on convergence behavior of the Extended Kalman Filter used as a state estimator for
projectile attitude and position estimation. We provide first the complete dynamical model, into a non linear state space
form, to describe the projectile behavior. Due to strong non linearities and poor observability of the system, very few
estimation techniques could be applied, among them the celebrate EKF. The later is, however, very sensitive to bad
initializations and small perturbations. The main contribution of this work lies in the use of a modified EKF to assure a
strong tracking using magnetometer sensor only. The modified EKF follows from the connection of some instrumental
matrices, fixed by the user, and the convergence behavior. Simulation results show the good performances of the
proposed approach.
