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Journal of Control Science and Engineering
Volume 2015, Article ID 425698, 8 pages
Research Article

In-Flight Self-Alignment Method Aided by Geomagnetism for Moving Basement of Guided Munitions

1Beijing Institute of Technology, Beijing 100081, China
2Key Laboratory of Dynamics and Control of Flight Vehicle, Ministry of Education, Beijing 100081, China
3Beijing Key Laboratory of High Dynamic Navigation Technology, University of Beijing Information Science & Technology, Beijing 100101, China

Received 2 March 2015; Revised 4 May 2015; Accepted 11 May 2015

Academic Editor: Kalyana C. Veluvolu

Copyright © 2015 Shuang-biao Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Due to power-after-launch mode of guided munitions of high rolling speed, initial attitude of munitions cannot be determined accurately, and this makes it difficult for navigation and control system to work effectively and validly. An in-flight self-alignment method aided by geomagnetism that includes a fast in-flight coarse alignment method and an in-flight alignment model based on Kalman theory is proposed in this paper. Firstly a fast in-flight coarse alignment method is developed by using gyros, magnetic sensors, and trajectory angles. Then, an in-flight alignment model is derived by investigation of the measurement errors and attitude errors, which regards attitude errors as state variables and geomagnetic components in navigation frame as observed variables. Finally, fight data of a spinning projectile is used to verify the performance of the in-flight self-alignment method. The satisfying results show that (1) the precision of coarse alignment can attain below 5°; (2) the attitude errors by in-flight alignment model converge to 24′ at early of the latter half of the flight; (3) the in-flight alignment model based on Kalman theory has better adaptability, and show satisfying performance.