留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

基于四元数平方根容积卡尔曼滤波的姿态估计

钱华明 黄蔚 葛磊 张广拓

钱华明, 黄蔚, 葛磊, 等 . 基于四元数平方根容积卡尔曼滤波的姿态估计[J]. 北京航空航天大学学报, 2013, 39(5): 645-649.
引用本文: 钱华明, 黄蔚, 葛磊, 等 . 基于四元数平方根容积卡尔曼滤波的姿态估计[J]. 北京航空航天大学学报, 2013, 39(5): 645-649.
Qian Huaming, Huang Wei, Ge Lei, et al. Attitude estimation based on quaternion square-root cubature Kalman filter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(5): 645-649. (in Chinese)
Citation: Qian Huaming, Huang Wei, Ge Lei, et al. Attitude estimation based on quaternion square-root cubature Kalman filter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(5): 645-649. (in Chinese)

基于四元数平方根容积卡尔曼滤波的姿态估计

基金项目: 国家自然科学基金资助项目(61104036)
详细信息
  • 中图分类号: U666.12

Attitude estimation based on quaternion square-root cubature Kalman filter

  • 摘要: 针对飞行器姿态确定中乘性扩展卡尔曼滤波(MEKF, Multiplicative Extended Kalman Filter)在较大初始姿态误差角情况下存在估计精度低及收敛速度慢的问题,提出了一种四元数平方根容积卡尔曼滤波(QSCKF,Quaternion Square-root Cubature Kalman Filter)算法.在推导姿态确定系统四元数非线性误差模型的基础上,采用容积数值积分理论来计算非线性函数的均值与方差,同时使用平方根的形式来提高数值稳定性;针对四元数规范化问题,采用拉格朗日代价函数法求解四元数加权均值.仿真结果表明:在初始姿态误差较大的情况下,该算法相比较于MEKF以及无迹四元数估计法(USQUE, Unscented Quaternion Estimator),估计精度高且收敛速度快,滤波稳定性好,同时估计时间比USQUE缩短了1/3.

     

  • [1] Markley F L.Attitude error representations for Kalman filtering[J].Journal of Guidance,Control,and Dynamics,2003,26(2):311-317
    [2] Choukroun D,Bar-Itzhack I Y,Oshman Y.Novel quaternion Kalman filter[J].IEEE Transactions on Aerospace and Electronic Systems,2006,42(1):174-190
    [3] Hamada M,Khayatian A,Karimaghaee P.Attitude estimation by divided difference filter in quaternion space[J].Acta Astronautica,2012,75:95-107
    [4] Lefferts E J,Markley F L,Shuster M D.Kalman filtering for spacecraft attitude estimation[J].Journal of Guidance Control and Dynamics,1982,5(5):417-429
    [5] Crassidis J L,Markley F L.Unscented filtering for spacecraft attitude estimation[J].Journal of Guidance Control and Dynamics,2003,26(4):536-542
    [6] Tang Xiaojun,Liu Zhenbao,Zhang Jiasheng.Square-root quaternion cubature Kalman filtering for spacecraft attitude estimation[J].Acta Astronautica,2012,76:84-94
    [7] Oshman Y,Carmi A.Attitude estimation from vector observations using genetic-algorithm-embedded quaternion particle filer[J].Journal of Guidance Control and Dynamics,2006,29(4):879-891
    [8] Markley F L,Cheng Yang,Crassidis J L,et al.Averaging quaternions[J].Journal of Guidance Control and Dynamics,2007,30(4):1193-1197
    [9] 乔相伟,周卫东,吉宇人.用四元数状态切换无迹卡尔曼滤波器估计的飞行器姿态[J].控制理论与应用,2012,29(1): 97-103
    Qiao Xiangwei,Zhou Weidong,Ji Yuren.Aircraft attitude estimation based on quaternion state-switching unscented Kalman filter[J].Control Theory & Applications,2012,29(1):97-103(in Chinese)
    [10] Arasaratnam I,Haykin S.Cubature Kalman filters[J].IEEE Transactions on Automatic Control,2009,54(6):1254-1269
  • 加载中
计量
  • 文章访问数:  2359
  • HTML全文浏览量:  170
  • PDF下载量:  1091
  • 被引次数: 0
出版历程
  • 收稿日期:  2012-05-23
  • 修回日期:  2013-05-07
  • 网络出版日期:  2013-05-31

目录

    /

    返回文章
    返回
    常见问答