基于改进容积卡尔曼滤波的奇异避免姿态估计

doi:10.7527/S1000-6893.2013.0098

Abstract

Abstract:

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.

Key words: attitude estimation, LM algorithm, quaternion, modified Rodrigues parameters, Kalman filter, cubature Kalman filter

CLC Number:

V448.2

WEI Xiqing, SONG Shenmin. Improved Cubature Kalman Filter Based Attitude Estimation Avoiding Singularity[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, doi: 10.7527/S1000-6893.2013.0098.

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Improved Cubature Kalman Filter Based Attitude Estimation Avoiding Singularity

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