Patent ID: 9354028
Filing Date: 2016-05-31
CPC Classification: F41G,F42B,G01C,G05D

Claim Text:
1. Method for determining the roll angle of a guidable and substantially or partially roll-stable projectile comprising control system, radio-based positioning receiver and sensor for measuring roll angular velocity, which comprises the following steps: (a) actuation of the actuators of the projectile by the control system, included in the projectile, for maneuvering of the projectile; (b) estimation of a first signal, the projectile control force, on the basis of the control system included in the projectile; (c) measurement of a second signal, the velocity of the projectile relative to the ground-fixed coordinate system, with the radio-based positioning receiver mounted in the projectile; (d) measurement of a third signal, the rotational velocity, with the sensor for roll angular velocity mounted in the projectile; (e) calculation of a roll angle on the basis of the first, second and third signals, estimated projectile control force, measured projectile velocity and measured rotational velocity, by summation of the absolute angle change with weighting of an angle evaluation.