상태변수 오차기반 스무더를 이용한 자율이동체 자세오차 보상

Abstract

In this study, the navigation information of a guided missile was calculated using a smoothing algorithm and used for improving the attitude estimation accuracy of the guided missile. The state variables of the backward filter, designed in the fixed interval smoother, were set to attitude errors in the same way as the forward filter of the fixed interval smoother, which was implemented as a linearized Kalman filter algorithm. To verify the performance of the proposed algorithm, simple guided missile simulations were performed, which confirmed that the attitude error of the guided missile was reduced when the fixed interval smoother was applied.