Study on Gyro Calibration and Attitude Estimation Considering an Induced Phase Anomaly Effect of High-Spin Maneuvering Body

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Abstract
This article presents a method for estimating the angular rate and attitude of high-spin objects with free maneuvering such as flying disks or spinning projectiles. A new framework is proposed that utilizes the estimated spin rate for simultaneous gyroscope calibration and 3-D attitude estimation. Previous studies on spin rate estimation based on periodicity analysis, comparatively, have mostly overlooked the phase anomaly effect that may occur when the attitude changes in the nonorthogonal axes. Therefore, this study explains the newly discovered phase anomaly and makes compensation to improve the spin rate estimation performance when the spinning object rotates without any axial constraint. Additionally, a new observation model is proposed, relating the roll rate and gyroscope scale factor using the estimated spin rate. Based on this model, an extended Kalman filter (EKF) is developed to calibrate the gyroscope scale factor and estimate 3-D attitude. To address the time-delay characteristics of the spinning rate used as a measurement, a two-stage cascade EKF (CEKF) is implemented. The performance of the proposed methods is validated through simulations of spinning projectiles at rates of 30 and 60 rotations per second, as well as empirical rotation experiments using turntable. This study distinguishes itself from previous research by including explicit orthogonal rotation with respect to the principal rotation axis, and its performance is demonstrated accordingly.
Funding Information
  • Korean National Research Fund (NRF-2022R1A2C1005237)
  • Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea (NRF-2020M3C1C1A01086408)
  • Korea Research Institute for Defense Technology Planning and Advancement (KRIT) Grant funded by the Korea Government [Defense Acquisition Program Administration (DAPA)] (KRIT-CT-22-030, 2023)

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