Measuring In-Flight Angular Motion With a

Low-Cost Magnetometer

by Thomas E. Harkins and Michael J. Wilson

ARL-TR-4244 September 2007

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Army Research Laboratory
Aberdeen Proving Ground, MD 21005-5069

ARL-TR-4244 September 2007

Measuring In-Flight Angular Motion With a

Low-Cost Magnetometer

Thomas E. Harkins
Weapons and Materials Research Directorate, ARL

Michael J. Wilson
ATK

Approved for public release; distribution is unlimited.

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Measuring In-Flight Angular Motion With a Low-Cost Magnetometer

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Thomas E. Harkins (ARL) and Michael J. Wilson (ATK) 1L162618AH80

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13. SUPPLEMENTARY NOTES

14. ABSTRACT

A technique for obtaining pitch, yaw, and roll rates of a projectile from a single, low-cost, commercial off-the-shelf
magnetometer has been developed at the Advanced Munitions Concepts Branch of the U.S. Army Research Laboratory’s
Weapons and Materials Research Directorate. In this report, the magnetometer-based methodology is presented, the flight
experiment and subsequent analyses are described, criteria for use of this methodology are given, and the potential uses of
this technique in inertial measurements unit/INS applications are discussed.

15. SUBJECT TERMS

high g; magnetometer; pitch; projectile dynamics; projectile navigation; strap-down sensors; telemetry; yaw
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ii
Contents

List of Figures iv

1. Introduction 1

2. Inertial Navigation of Projectiles 1

3. Vector Magnetometer 4

4. Obtaining Angular Rates From Vector Magnetometers 4

5. Obtaining Spin Rate From Magnetometers 5

6. Measuring Angular Rates of a NASA Crew Exploration Vehicle (CEV) Model 6

7. Criteria for the Use of Magnetometer-Based Angular Rate Estimation 9

8. Summary 10

9. References 11

Distribution List 12

iii
List of Figures

Figure 1. Coordinate systems......................................................................................................... 2

Figure 2. Earth-fixed and body-fixed systems and the Euler angle rotation. ............................... 3
Figure 3. NASA re-entry vehicle models with sensor and telemetry system. ............................... 7
Figure 4. Apollo model flight data................................................................................................. 7
Figure 5. Pitch rate history from rate sensors and magnetometers. ............................................... 8
Figure 6. Elevation (θ) and azimuth (ψ) angle history. ................................................................. 9

iv
1. Introduction

The Advanced Munitions Concepts Branch of the U.S. Army Research Laboratory’s (ARL’s)
Weapons and Materials Research Directorate has for many years designed, built, and employed
body-fixed sensor and telemetry systems to measure flight body kinematics, primarily in support of
military ordnance testing. Because requirements imposed by military applications such as high-g
environment, extreme projectile dynamics, small size, low cost, low power consumption, etc.,
exclude many traditional inertial sensor systems, ARL is continually exploring emerging tech-
nologies and developing alternate techniques for their utility in obtaining desired measurements.
With the result from vector differentiation relating the time derivatives of a vector represented in
two coordinate systems in relative motion, a technique for obtaining pitch, yaw, and roll rates from
a single, low-cost, commercial off-the-shelf magnetometer was developed. In a recent ARL flight
experiment intended to characterize the angular motion of National Aeronautics and Space Admin-
istration (NASA) re-entry capsules, no data were available from the strap-down angular rate
sensors during critical portions of several flights because the launch environment and projectile
dynamics exceeded sensor capabilities. These rates were successfully derived from magnetometer
data, and complete Euler angular histories of the test trajectories were obtained with an ARL-
developed vector-matching algorithm.
In this report, the magnetometer-based methodology is presented, the flight experiment and sub-
sequent analyses are described, criteria for use of this methodology are given, and potential uses of
this technique in inertial measurement unit (IMU)/inertial navigation system (INS) applications are
discussed.

2. Inertial Navigation of Projectiles

The equations of motion describing free-flight dynamics of rigid projectiles have six degrees of
freedom, three translational velocity components and three rotational velocity components. A
traditional strap-down IMU consists of an orthogonal triad of linear accelerometers and an or-
thogonal triad of angular rate sensors oriented along a projectile’s principal axes. Given initial
launch position, orientation, and velocity of a projectile, the rate sensors’ output is integrated to
update the projectile orientation, and the accelerometers are integrated once to update the projectile
velocity and twice to update the projectile position. The solution of the inertial navigation problem
is conceptually simple, but it is often difficult to realize an IMU capable of measuring the required
six body states under constraints imposed by a particular application. Although this problem is

1
equally of concern to accelerometers and rate sensors, only the orientation estimation (i.e., rate
sensor) problem is addressed herein.
Formulation of the inertial navigation problem for gun- and tube-launched projectiles requires the
use of multiple coordinate systems (Harkins, 2003, 2007). Trajectory time histories are best
described in an earth-fixed coordinate system with its origin at the launcher. Of necessity, strap-
down sensor measurements are made in a flight-body-fixed coordinate system, and target locations
are most naturally described in another earth-fixed system.
The first coordinate system is right-handed Cartesian (I,J,K) with its origin at the launch site. This
will be referred to as the “earth-fixed” system and the axes are defined by
• The I and J axes, which define a plane tangent to the earth’s surface at the origin;
• The K axis, which is perpendicular to the earth’s surface with positive downward, i.e., in
the direction of gravity;
• The I axis, which is chosen so that the centerline of the launcher is in the I-K plane.
Down-range travel is then measured along the I axis, deflection along the J axis (positive to the
right when one is looking down range), and altitude along the K axis (positive downwards) (see
figure 1).

Figure 1. Coordinate systems.

The second system is convenient for aeroballistic computations of rigid projectiles’ flights and for
describing the locations and orientations of such projectiles’ components. This system is right-
handed Cartesian (i,j,k) with its origin at the center of gravity (c.g.) of the flight body. For rotating
flight bodies, the projectile-fixed coordinate system usually has its i axis lying along the projectile
axis of symmetry, i.e., the spin axis (with positive in the direction of travel at launch). The j and k
axes are then oriented so as to complete the right-handed orthogonal system (figure 1). Spin (p),

2
pitch (q), and yaw (r) rates are measured about these axes. This will be referred to as the “body-
fixed” system.
The third coordinate system (X,Y,Z) is commonly employed to specify locations on or near the
earth’s surface, i.e., north, east, and down. This will be referred to as the “navigation” system
where north = X , east = Y , and down = Z.
The earth-fixed and body-fixed coordinate systems are related through an Euler rotation sequence,
beginning with a rotation of the earth-fixed frame about the K-axis through the yaw angle ψ . The
system is then rotated about the new J’-axis through the pitch angle θ . Finally, the system is
rotated about the new i-axis through the roll angle φ . The two systems are related by the direction
cosine transformation matrix (DCM), TEb , with the subscript denoting earth fixed to body fixed.
This transformation matrix is

⎛ cψ cθ sψ cθ − sθ ⎞
⎜ ⎟
TEb = ⎜ cψ sθ sφ − sψ cφ sψ sθ sφ + cψ cφ cθ sφ ⎟ , (1)
⎜⎜ ⎟
⎝ cψ sθ cφ + sψ sφ sψ sθ cφ − cψ sφ cθ cφ ⎟⎠

where c• is cos(•) , and s• is sin(•) . Figure 2 shows both coordinate systems and the Euler angle
relations between them.

Figure 2. Earth-fixed and body-fixed systems

and the Euler angle rotation.

The body-fixed components of projectile angular motion and the Euler angle derivatives are
related by
φ& = p + [ q sin(φ ) + r cos(φ ) ] tan(θ )
θ& = q cos(φ ) − r sin(φ ) (2)
ψ& = (q sin(φ ) + r cos(φ ) ) cos(θ )

3
3. Vector Magnetometer

Among the many varieties of magnetic sensors, “vector” magnetometers are devices whose output
is proportional to the magnetic field strength along the sensor’s axis(es). If a tri-axial vector mag-
netometer is installed so that the sensor axes are parallel to the axes of the body-fixed system, the
projections of the earth’s magnetic field onto each of the sensor axes can be obtained by equation 1.
r
If M E = (M I , M J , M K ) is the magnetic field vector in the earth-fixed system, then the
components along the sensor axes are given by
r r
M b = TEb M E (3)

M i = cψ cθ M I + sψ cθ M J − sθ M K
or ( ) ( )
M j = cψ sθ sφ − sψ cφ M I + sψ sθ sφ + cψ cφ M J + cθ sφ M K (4)
( ) ( )
M k = cψ sθ cφ + sψ sφ M I + sψ sθ cφ − cψ sφ M J + cθ cφ M K

In any real magnetic sensor, determination of axes’ orientations and calibration coefficients can be
a complex process, but for the present purpose, it is assumed that this has been successfully accom-
r
plished and M b is being accurately measured at a known sampling rate.

4. Obtaining Angular Rates From Vector Magnetometers

Consider two coordinate systems with the same origin and in relative motion, e.g., the earth-fixed
and body-fixed systems just described at the time of projectile launch. From vector differentiation,
r r
the time derivative of any vector in the earth-fixed system (v& E = δ v E / δ t ) and its time derivative
r r
in the body-fixed system (v& = δ v / δ t ) are related by
b b
r r r r
v& E = v&b + ω b × vb (5)
r
where ω b = ( p, q, r ) . Applied to the geomagnetic field vector, equation 5 becomes
r& r& r r
M E = M b + ωb × M b (6)

Realizing that equation 6 is unaffected by a translation of the earth-fixed system’s origin to the
r
projectile c.g. at each sampling time and that M E is unchanging in the earth-fixed system and
expanding in component form, we have the relations
M& i = −qM k + rM j , M& j = pM k − rM i , and M& k = − pM j + qM i . (7)

4
Because these equations are not linearly independent, they can not be solved directly for the
angular rates. However, for most rolling projectiles where p >> q and r , a good estimate of p
is readily obtainable from the magnetometer data, as described in the next section. With a spin
estimate, this system can be solved to yield estimates of the body-fixed pitch and yaw rates.
Therefore,
( ) (
qˆ = M& k + pM j M i and rˆ = − M& j + pM k M i . ) (8)

5. Obtaining Spin Rate From Magnetometers

Consider an earth-fixed, right-handed Cartesian coordinate system where the z-axis is along the
geomagnetic field. In this new system, denoted by the subscript m, the geomagnetic field vector is
r r
M m = (0,0, M E )T . As seen in section 2, there is a new set of Euler angles that defines a trans-
formation matrix from this magnetic coordinate system into the body-fixed system so that
⎛ Mi ⎞
⎜ r ⎟
⎜ ME ⎟
⎜ ⎟ ⎛ cψ m cθ m sψ m cθ m − sθ m ⎞⎛ 0 ⎞ ⎛ − sθ ⎞
⎜ Mj ⎟ ⎜ ⎟⎜ ⎟ ⎜ m ⎟
⎜ r ⎟ = ⎜ cψ m sθ m sφ m − sψ m cφ m sψ m sθ m sφ m + cψ m cφ m cθ m sφ m ⎟⎜ 0 ⎟ = ⎜ cθ m sφ m ⎟ (9)
⎜ ME ⎟ ⎜⎜ cψ sθ cφ + sψ sφ sψ m sθ m cφ m − cψ m sφ m
⎟⎟⎜ ⎟ ⎜⎜ ⎟⎟
⎜ Mk ⎟ ⎝ m m m m m
cθ m cφ m ⎠⎝ 1 ⎠ ⎝ cθ m cφ m ⎠
⎜ r ⎟
⎜ ME ⎟
⎝ ⎠

This gives a definition of the magnetometer measurements in terms of the magnetic Euler angles.
The magnetic pitch angle,
r
θ m = sin −1 − M i M E ,( ) (10)
r r
is the complement of the angle between the projectile’s spin axis ( i ), and the magnetic field, M E .
The magnetic roll angle, φ m , is computed by

φ m = tan −1 (M j M k ) (11)

Analogous to equation 2, the body-fixed rates and the derivatives of the magnetic Euler angles are
related by
φ&m = p + [ q sin(φ m ) + r cos(φ m ) ] tan(θ m )
θ&m = q cos(φ m ) − r sin(φ m ) (12)
ψ& m = (q sin(φ m ) + r cos(φ m ) ) cos(θ m )

5
Estimates of φm can be obtained in several ways. The simplest method is to make roll period
estimates from successive zero crossings or signal extrema on the Mj or Mk signals. This process
yields average roll rates over the respective periods. More continuous, higher order estimates are
obtained by the computation of equation 11 at each sampling time and the differentiation of the
results. Alternatively, φm is computed directly from

δ tan −1 ( M j M k ) δ ( M j M k ) ⎛⎜ 1 ⎞ ⎛ M M − M M
⎟=⎜ j k k j
⎞
⎟
= (13)
δT δT ⎜ 1 + (M M ) 2 ⎟ ⎜ M 2 + M 2 ⎟
⎝ j k ⎠ ⎝ j k ⎠
with the advantage of avoiding potential singularities in equation 11 when M k = 0 . The spin rate
(p) can then be estimated by low-pass filtering of the φ estimates (Wilson, 2004).
m

6. Measuring Angular Rates of a NASA Crew Exploration Vehicle (CEV)

Model

NASA needs to characterize the aerodynamics of the CEV that will be a part of future Mars
missions. Some previous measurements had been made in spark ranges with scale models of the
CEV, but this methodology cannot be employed to characterize all conditions of interest because of
velocity and stability limitations imposed by safety considerations in an indoor range. Further,
only limited amounts of data are collected for each shot in a spark range, so testing costs quickly
mount with the number of shots required. With the dual hope of expanding the set of potentially
measurable flight dynamics and reducing testing costs, it was decided that gun launching of Mars
CEV models equipped with a sensor and telemetry system (figure 3c) at an outdoor range would be
explored as a practicable way to acquire the desired data at reentry velocities (Brown et al., 2006).
Before proceeding to the Orion CEV tests, we evaluated the proposed methodology using an
Apollo capsule model with known aerodynamics (figure 3a and b). The sensor system consisted of
six angular rate sensors and a three-axis magnetometer. Along each of the principal axes there
were an angular rate sensor with a dynamic range of ± 1000 deg/s, an angular rate sensor with a
dynamic range of ± 2000 deg/s, and a vector magnetometer.

Figure 4 gives the body-fixed pitch axis rate sensor data for the first 0.5 second of one of the Apollo
model flight tests. Two “problems” with these data are readily apparent. First, the pitch (and yaw)
angular rates exceeded the dynamic range of the rate sensors and clipping resulted. Second, after
gun launch, the rate sensors required time to “settle”. This is obvious in the 1000-deg/s sensor data
but was later discovered to be equally true of the 2000-deg/s sensor data. Because of these issues,
the magnetometer-based method was used to estimate the angular rates and the Apollo model’s
attitude history.

6
 a) Apollo model schematic b) Apollo model in sabot c) Orion CEV schematic

Figure 3. NASA re-entry vehicle models with sensor and telemetry system.

Figure 4. Apollo model flight data.

Initial spin rate was estimated to be approximately 2 Hz from a period measurement of radial
magnetometer output. With this value for p, equation 8 was evaluated to obtain estimates of the
body-fixed pitch (q̂ ) and yaw (r̂ ) rates. We estimated M and M by differencing the successive
k j
magnetometer measurements. The resulting pitch rate estimate is seen in figure 5a superimposed
on the rate sensor data. The good agreement of the magnetometer-derived pitch rate with the rate-
sensor-measured pitch rates whenever those measurements exist supports the accuracy of the
magnetometer-derived rate estimates at all other times. The magnetometer-derived rates indicate
initial pitching rates of approximately 4000 deg/s. These early data are particularly important
because the high-drag shape of the model causes the mach 3.5 launch velocity to decay to subsonic
speed in less than 1 second, and the high mach numbers are representative of re-entry velocities.
Later in the flight, as the model begins to tumble, pitch rates approaching 20000 deg/s are esti-
mated by the magnetometer (figure 5b). Although these data are not of interest for characterizing

7
 CEV aerodynamics, they demonstrate that the magnetometer method does not suffer from dynamic
range limitations.

a) Pitch rates at launch b) Pitch rates during flight

Figure 5. Pitch rate history from rate sensors and magnetometers.

With θ m , φ m , q̂ , and r̂ in hand, equation 12 is used to compute ψ& m at each sampling interval.
The magnetic azimuth is then given by
t
ψ m (t ) = ψ m (0) +
∫0ψ m (t ) δ t . (14)

Finally, the earth-fixed Euler angles are given by

⎛θ ⎞ ⎛θm ⎞
⎜ ⎟ ⎜ ⎟
⎜ψ ⎟ = TmE ⎜ψ m ⎟ (15)
⎜φ ⎟ ⎜φ ⎟
⎝ ⎠ ⎝ m⎠
where TmE is the DCM relating the magnetic and earth-fixed coordinate systems. This metho-
dology has been successfully implemented in an on-board digital signal processor for real-time
guidance of experimental projectiles, as reported in reference 1. When this methodology was
executed during post-processing of the flight telemetry data, the Apollo model heading history seen
in figure 6 was computed for the first second of flight. With these data, aerodynamic coefficients
of interest were estimated for the test vehicle, and the flight experiment evaluation was successfully
completed.

8
 Figure 6. Elevation (θ) and azimuth (ψ) angle history.

7. Criteria for the Use of Magnetometer-Based Angular Rate Estimation

The effectiveness of this methodology is clearly dependent on the accuracy of the measurements
of M i , M j , M k , M& j , and M& k . Thus, a calibrated vector magnetometer is required. Calibration
constants can be determined on the ground and pre-loaded or often can be dynamically determined
in flight. We estimated M& j and M& k by differencing successive magnetometer measurements.
This simplistic method requires that data rates be sufficiently high to accurately estimate the
derivatives. Sampling rates of at least one sample per degree of projectile rotation have been
found to be adequate for a number of simulated projectiles. Alternatively, polynomial fitting to
the magnetometer data followed by analytic differentiation has been shown to produce equally
accurate results at lower sampling rates. Preferred methods should be determined for individual
applications.

9
8. Summary

Free flight angular dynamics of projectiles have been successfully measured with vector
magnetometers in flight experiments during intervals when angular rate sensors have failed to
provide measurements. This result argues for investigation of the inclusion of magnetometers as
supplements and/or replacements to rate sensors in low-cost IMU/INS systems.

10
9. References

Brown, T. G.; Brandon, F.; Bukowski, E.; Davis, B.; Hall, R.; Hathaway, W.; Muller, P.; Topper,
B.; Rodgers, A.; Vong, T. Calculating Aerodynamic Coefficients for a NASA Body Using
Telemetry Data From Free Flight Range Testing. 57th Aeroballistic Range Association
Meeting, Venice, Italy, September 2006.
Harkins, T. Understanding Body-Fixed Sensor Output From Projectile Flight Experiments;
ARL-TR-3029; U.S. Army Research Laboratory: Aberdeen Proving Ground, MD,
September 2004.
Harkins, T. Solving for Flight Body Angular Histories With the Use of Solar and Magnetic
Sensor Data; ARL-TR-4072; U.S. Army Research Laboratory: Aberdeen Proving Ground,
MD, April 2007.
Wilson, M. Attitude Determination With Magnetometers for Gun-Launched Munitions; ARL-
TR-3209; U.S. Army Research Laboratory: Aberdeen Proving Ground, MD, August 2004.

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1 CDR US ARMY TACOM ARDEC
ATTN AMSRD AAR AEM L J STRUCK 1 CDR OFC OF NAVAL RSCH
BLDG 472 ATTN CODE 333 P MORRISSON
PICATINNY ARSENAL NJ 07806-5000 800 N QUINCY ST RM 507
ARLINGTON VA 22217-5660

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1 DIR NAVAL AIR SYSTEMS CMD 8 ALLIANT TECHSYSTEMS

TEST ARTICLE PREP DEP ALLEGANY BALLISTICS LAB
ATTN CODE 5 4 R FAULSTICH ATTN S OWENS C FRITZ J CONDON
BLDG 1492 UNIT 1 B NYGA
47758 RANCH RD J PARRILL M WHITE
PATUXENT RIVER MD 20670-1456 S MCCLINTOCK K NYGA
MAIL STOP WV01-08 BLDG 300
1 CDR NAWC WEAPONS DIV RM 180
ATTN CODE 543200E G BORGEN 210 STATE ROUTE 956
BLDG 311 ROCKET CENTER WV 26726-3548
POINT MUGU CA 93042-5000
2 SAIC
2 PROGRAM MANAGER ITTS ATTN J DISHON
PEO-STRI 16701 W BERNARDO DR
ATTN AMSTI EL D SCHNEIDER SAN DIEGO CA 92127
C GOODWIN
12350 RESEARCH PKWY 3 SAIC
ORLANDO FL 32826-3276 ATTN J GLISH J NORTHRUP
G WILLENBRING
2 CDR US ARMY RDEC 8500 NORMANDALE LAKE BLVD
ATTN AMSRD AMR SG SD P JENKINS SUITE 1610
AMSRD AMR SG SP P RUFFIN BLOOMINGTON MN 55437-3828
BLDG 5400
REDSTONE ARSENAL AL 35898-5247 1 SAIC
ATTN D HALL
1 DIR US ARMY RTTC 1150 FIRST AVE SUITE 400
ATTN STERT TE F TD R EPPS KING OF PRUSSIA PA 19406
REDSTONE ARSENAL AL 35898-8052
1 AAI CORPORATION
1 ARROW TECH ASSOCIATES M/S 113/141
ATTN W HATHAWAY ATTN C BEVARD
1233 SHELBURNE RD STE 8 124 INDUSTRY LANE
SOUTH BURLINGTON VT 05403 HUNT VALLEY MD 21030

5 ALLIANT TECHSYSTEMS 2 JOHNS HOPKINS UNIV

ATTN A GAUZENS J MILLS APPLIED PHYSICS LABORATORY
B LINDBLOOM E KOSCO ATTN W D’AMICO K FOWLER
D JACKSON 1110 JOHNS HOPKINS RD
PO BOX 4648 LAUREL MD 20723-6099
CLEARWATER FL 33758-4648
4 CHLS STARK DRAPER LAB
1 ALLIANT TECHSYSTEMS ATTN J CONNELLY J SITOMER
ATTN R DOHRN T EASTERLY A KOUREPENIS
5050 LINCOLN DR 555 TECHNOLOGY SQUARE
MINNEAPOLIS MN 55436-1097 CAMBRIDGE MA 02139-3563

5 ALLIANT TECHSYSTEMS 2 ECIII LLC

ATTN G PICKUS F HARRISON ATTN R GIVEN J SWAIN
M WILSON (3 CYS) BLDG 2023E
4700 NATHAN LANE NORTH YPG AZ 85365
PLYMOUTH MN 55442

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1 GD-OTS 2 DIR USARL

ATTN E KASSHEIMER ATTN AMSRD ARL WM T B BURNS
PO BOX 127 ATTN AMSRD ARL WM TC R COATES
RED LION PA 17356 BLDG 309

1 ALION SCIENCE 4 CDR US ARMY TACOM ARDEC

ATTN P KISATSKY ATTN AMSRD AAR AEF T
12 PEACE RD R LIESKE J MATTS
RANDOLPH NJ 07861 F MIRABELLE J WHITESIDE
BLDG 120
ABERDEEN PROVING GROUND
2 CDR ABERDEEN TEST CENTER
1 DIRECTOR US ARMY RSCH ATTN CSTE DTC AT TD B
LABORATORY K MCMULLEN
ATTN AMSRD ARL CI OK (TECH LIB) CSTE DTC AT SL B D DAWSON
BLDG 4600 BLDG 359

1 DIRECTOR US ARMY RSCH 2 CDR ABERDEEN TEST CENTER

LABORATORY ATTN CSTE DTC AT FC L R SCHNELL
ATTN AMSRD ARL SG J DAMIANO
T ROSENBERGER BLDG 400
BLDG 4600
1 CDR ABERDEEN TEST CENTER
17 DIR USARL ATTN CSTE DTC AT TD S WALTON
ATTN AMSRD ARL WM BA D LYON BLDG 359
T BROWN E BUKOWSKI
J CONDON B DAVIS 1 CDR USAEC
R HALL T HARKINS (5 CYS) ATTN CSTE AEC SVE B D SCOTT
D HEPNER G KATULKA BLDG 4120
T KOGLER P MULLER
B PATTON P PEREGINO
BLDG 4600

3 DIR USARL
ATTN AMSRD ARL WM BC
P PLOSTINS
B GUIDOS P WEINACHT
BLDG 390

3 DIR USARL
ATTN AMSRD ARL WM BD M NUSCA
J COLBURN T COFFEE
BLDG 390

2 DIR USARL
ATTN AMSRD ARL WM BF
W OBERLE A THOMPSON
BLDG 390

2 DIR USARL
ATTN AMSRD ARL WM MB
J BENDER W DRYSDALE
BLDG 390

15