基于改进容积卡尔曼滤波的奇异避免姿态估计
收稿日期: 2012-05-03
修回日期: 2012-08-27
网络出版日期: 2013-03-29
基金资助
国家自然科学基金(61174037)
Improved Cubature Kalman Filter Based Attitude Estimation Avoiding Singularity
Received date: 2012-05-03
Revised date: 2012-08-27
Online published: 2013-03-29
Supported by
National Natural Science Foundation of China (61174037)
魏喜庆 , 宋申民 . 基于改进容积卡尔曼滤波的奇异避免姿态估计[J]. 航空学报, 2013 , 34(3) : 610 -619 . DOI: 10.7527/S1000-6893.2013.0098
Spacecraft attitude estimation of from vector observations is a nonlinear problem in essence. The cubature Kalman filter (CKF) is combined with an iterative Levenberg-Marquardt (LM) algorithm in order to improve the accuracy of spacecraft attitude estimation. By fusing the improved CKF and quaternion, cubature quaternion estimator (CQE) never encounter singularity. Furthermore, cubature modified Rodrigues parameters estimator (CME) is derived by switching the modified Rodrigues parameters to the shadow modified Rodrigues parameters. Simulations demonstrate that the performance of the improved CME is more robust with faster convergence in conditions of large initial errors than the original CKF.
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