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Attitude estimation of an artillery shell in free-flight from accelerometers and magnetometers

Abstract : The thesis addresses the estimation of the attitude of an artillery shell in free flight, during the flight phase called exterior ballistics. Attitude estimation is an essential step for the development of "smart-shells" a.k.a. "guided-ammunition" which are capable of achieving various guidance tasks such as in-flight re-targeting and optimization of range. The method developed here uses strapdown accelerometers and magnetometers only. In particular, it does not use any rate gyro, a pricey component that is too fragile to survive the stress of gunshot when it is not subjected to import restrictions. For attitude determination, we circumvent the intrinsic inability of accelerometers to provide direction information in free flight, by employing them not to measure the direction of gravity but to estimate the velocity wrt the air. This is achieved through a frequency detection method applied to the pitching and yawing rotational dynamics generated by aerodynamics moments. In turn, the variation of the velocity gives us an orientation information that complements the direction given by the 3-axis Magnetometer. The two information are treated by an attitude observer adapted from the well-known complementary filter. This adaptation requires special care and an analysis of the convergence of the resulting observer is provided. The applicability of the method is shown on simulations and real-flight experiments.
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Submitted on : Tuesday, January 5, 2021 - 12:22:04 PM
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  • HAL Id : tel-03097354, version 1


Aurélien Fiot. Attitude estimation of an artillery shell in free-flight from accelerometers and magnetometers. Automatic Control Engineering. Université Paris sciences et lettres, 2020. English. ⟨NNT : 2020UPSLM039⟩. ⟨tel-03097354⟩



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