利用Singer模型的无陀螺姿态和角速度估计

 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。

GYROLESS ATTITUDE AND RATE ESTIMATION USING SINGER MODEL

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.