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基于FD的微小型姿态系统的姿态估计算法

赵世峰 张海 范耀祖

赵世峰, 张海, 范耀祖等 . 基于FD的微小型姿态系统的姿态估计算法[J]. 北京航空航天大学学报, 2007, 33(03): 336-340.
引用本文: 赵世峰, 张海, 范耀祖等 . 基于FD的微小型姿态系统的姿态估计算法[J]. 北京航空航天大学学报, 2007, 33(03): 336-340.
Zhao Shifeng, Zhang Hai, Fan Yaozuet al. Attitude estimation method for micro attitude estimation system based on FD[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(03): 336-340. (in Chinese)
Citation: Zhao Shifeng, Zhang Hai, Fan Yaozuet al. Attitude estimation method for micro attitude estimation system based on FD[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(03): 336-340. (in Chinese)

基于FD的微小型姿态系统的姿态估计算法

详细信息
    作者简介:

    赵世峰(1979-),男,黑龙江牡丹江人,博士生,zhaoshifeng@asee.buaa.edu.cn.

  • 中图分类号: V 249.122+.2

Attitude estimation method for micro attitude estimation system based on FD

  • 摘要: 分别利用微惯性测量单元(MIMU,Micro Inertial Measurement Unit)中的3个加速度计与3个陀螺仪对载体的姿态角进行估计,同时,搭建捷联惯性导航系统,建立姿态误差方程,使用卡尔曼滤波估计载体姿态误差角.构造残差及统计量,利用状态残差检验的故障检测方法,对载体的运动状态进行分离,判断加速度计估计出的姿态角的可用性,对姿态角进行融合.既保证了姿态估计系统的动态性能,又提高了估计精度.由于使用微电子机械系统(MEMS,Micro Electro Mechanical System)惯性器件,使得姿态估计系统的体积小、重量轻、造价低,特别适于微小型载体使用.

     

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出版历程
  • 收稿日期:  2006-04-07
  • 网络出版日期:  2007-03-31

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