航空学报 > 2002, Vol. 23 Issue (6): 507-511

利用Singer模型的无陀螺姿态和角速度估计

程杨, 杨涤, 崔祜涛   

  1. 哈尔滨工业大学航天工程与力学系 黑龙江哈尔滨 150001
  • 收稿日期:2001-11-14 修回日期:2002-03-11 出版日期:2002-12-25 发布日期:2002-12-25

GYROLESS ATTITUDE AND RATE ESTIMATION USING SINGER MODEL

CHENG Yang,YANG Di,CUI Hu-tao   

  1. Department of Astronautics and Mechanics, Harbin Institute of Technology, Harbin 150001, China
  • Received:2001-11-14 Revised:2002-03-11 Online:2002-12-25 Published:2002-12-25

摘要:

给出了一种利用Singer跟踪模型的扩展卡尔曼滤波器 (ExtendedKalmanFilter) ,用于无陀螺姿态和姿态角速度估计。在滤波器中 ,姿态和姿态误差分别由姿态四元数和误差四元数表示 ,而姿态角加速度由一阶Markov过程描述 ,从而避免采用姿态动力学模型。利用数值仿真计算验证了滤波器的性能。在所有的仿真过程 ,滤波器显示出快速收敛能力。稳态估计误差主要由测量更新频率和精度决定。

关键词: 扩展卡尔曼滤波, Singer跟踪模型, 姿态和角速度估计, 姿态四元数

Abstract:

An extended Kalman filter with the Singer tracking model for gyroless attitude and attitude rate estimation is presented. In the filter, the attitude and attitude error are parameterized by a quaternion and an error quaternion respectively, while the angular acceleration is modeled as a first order Markov process, thus avoiding the use of the attitude dynamics model. Numerical simulations are used to test its performance. The filter shows fast convergence ability in all the runs. The steady state estimation errors are mainly determined by the measurement update frequency and measurement accuracy.

Key words: extended Kalman filter, Singer tracking model, attitude and rate estimation, attitude quaternion