For forecasting the gyro drift tendency of a missle, a prediction model based on Volterra series is established by
taking the time series of gyro’s drift as study object, and a parallel recursive affine projection(AP) algorithm for nonlinear
system based on Volterra series is presented in this paper. Taking the minimum norm of the Volterra kernel vector increments
and certain constraints as the overall cost function, by the steepest descent principle, the adaptive updating formula of the
Volterra kernel vector of each order is derived, and the matrix inverse lemma is applied to recursively estimate the inverse
of autocorrelation matrix of Volterra subsystem of each order, thus the algorithm is derived. The algorithm is applied to
prediction research on real gyro drift data of certain missle, and experiment results show that the algorithm has fast operation
speed and high prediction precision.