# Research on Roll Attitude Estimation Algorithm for Precision Firefighting Extinguishing Projectiles Based on Single MEMS Gyroscope

## TL;DR

This paper introduces a new method to estimate the roll angle of firefighting projectiles using a single gyroscope, improving accuracy and reducing costs.

## Contribution

A novel adaptive filtering algorithm is proposed for roll attitude estimation without external sensors.

## Key findings

- The proposed method achieves high-precision roll angle estimation using a single MEMS gyroscope.
- The algorithm reduces system complexity and dependency on external sensors like GPS or radar.
- It enables low-cost and high-reliability attitude control for firefighting projectiles.

## Abstract

The accurate acquisition and real-time calculation of the attitude angle of precision firefighting extinguishing projectiles are essential for ensuring stable flight and precise extinguishing agent release. However, measuring the roll attitude angle in such projectiles is challenging due to their highly dynamic nature and environmental disturbances such as fire smoke, high temperature, and electromagnetic interference. Traditional methods for measuring attitude angles rely on multi-sensor fusion schemes, which suffer from complex structure and high cost. This paper proposes a single-gyro attitude calculation method based on micro-electromechanical inertial measurement units (MIMUs). This method integrates Fourier transform time-frequency analysis with a second-order Infinite Impulse Response (IIR) bandpass filtering algorithm optimized by dynamic coefficients. Unlike conventional fixed-coefficient filters, the proposed algorithm adaptively updates filter parameters according to instantaneous roll angular velocity, thereby maintaining tracking capability under time-varying conditions. This theoretical contribution provides a general framework for adaptive frequency-tracking filtering, beyond the specific engineering case of firefighting projectiles. Through joint time-frequency domain processing, it achieves high-precision dynamic decoupling of the roll angle, eliminating the dependency on external sensors (e.g., radar/GPS) inherent in conventional systems. This approach drastically reduces system complexity and provides key technical support for low-cost and high-reliability firefighting projectile attitude control. The research contributes to enhancing the effectiveness of urban firefighting, forest fire suppression, and public safety emergency response.