## 留言板

 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

• 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.

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##### 出版历程
• 收稿日期:  2012-05-23
• 修回日期:  2013-05-07
• 刊出日期:  2013-05-31

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