Bullet state estimator using observer based dynamic system

A method for observer-based bullet state estimation, comprising

• receiving pre-processing information, via a radio frequency sensor located on a projectile or bullet, the pre-processing information involving waveforms from a ground-based radio frequency transmitter;
• calculating using the pre-processing information an azimuth angle, an elevation angle, and a range measurement for the projectile or bullet in relation to one or more targets during flight to create projectile or bullet measurement vectors;
• converting the projectile or bullet measurement vectors into projectile or bullet position vectors including 3-D position, 3-D velocity, and 3-D acceleration components expressed in a Cartesian coordinate system;
• and
• eliminating a Jacobian term from the projectile or bullet position vectors, thereby providing a linear time invariant (LTI) solution for the bullet state estimation having a velocity error of less than 1 m/s.