针对使用低精度惯性器件的战术制导武器中速率陀螺精度低、噪声大的问题,提出了一种基于弹体动力学信息降低陀螺噪声的方法。该方法通过将弹体姿态动力学方程与扩展卡尔曼滤波算法相结合来构建滤波器,并在飞行过程中利用导弹的先验特征信息和实测的执行机构信息来实时校正陀螺的测量值;然后从理论上证明了所建立非线性滤波系统是局部可观测和有效的。仿真结果表明,该滤波方法可以有效地抑制速率陀螺的测量误差。 Aiming at the low accuracy and large noise of rate gyro in tactical guided weapons using low precision inertial devices, a method of reducing gyro noise based on projectile kinetic information is proposed. The method combines the projectile attitude dynamics equation with the extended Kalman filter algorithm to construct the filter and realizes the measurement of the gyroscope by using the priori information of the missile and the measured actuator information during the flight. It is theoretically proved that the established nonlinear filter system is locally observable and effective. Simulation results show that this filtering method can effectively restrain the measurement error of the rate gyro.