Optimal Estimation of the Roll Rate of the Antitank Missile – Part I: Kalman Filter with Exact Model

Miodrag Ćurčin

An efficient method of estimation and prediction of the roll rate of the antitank missile using Kalman filter with exact model of motion is presented for the case when the roll angle is measured by free gyro and measured data are corrupted by noise. First standard deviation of the roll rate is estimated by “two-point differencing” and then the formulae for estimation are derived using exact model of motion. By numerical simulation, the efficiency of the models is tested and function of standard deviation of the missile roll rate with respect to normalized process noise is determined. The optimal value of the process noise is determined to achieve minimal dispersion of the estimate of the roll angle and roll rate.