| 修正Rodrigues参数在飞行器定姿中的应用(英文) |
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| 引用本文： | Chen Jizheng,Yuan Jianping,Fang Qun College of Astronautics,Northwestern Polytechnical University,Xi’an ,China.修正Rodrigues参数在飞行器定姿中的应用(英文)[J].中国航空学报,2008,21(5):433-440. |
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| 作者姓名： | Chen Jizheng Yuan Jianping Fang Qun College of Astronautics Northwestern Polytechnical University Xi’an China |
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| 作者单位： | College of Astronautics, Northwestern Polytechnical University, Xi＇an 710072, China |
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| 基金项目： | Foundation item： National Natural Science Foundation of China （10572114） |
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| 摘 要： | There are two attitude estimation algorithms based on the different representations of attitude errors when modified Rodrigues parameters are applied to attitude estimation. The first is multiplicative error attitude estimator （MEAE）, whose attitude error is expressed by the modified Rodrigues parameters representing the rotation from the estimated to the true attitude. The second is subtractive error attitude estimator （SEAE）, whose attitude error is expressed by the arithmetic difference between the true and the estimated attitudes. It is proved that the two algorithms are equivalent in the case of small attitude errors. It is possible to describe rotation without encountering singularity by switching between the modified Rodrigues parameters and their shadow parameters. The attitude parameter switching does not bring disturbance to MEAE, but it does to SEAE. This article introduces a modification to eliminate the disturbance on SEAE, and simulation results demonstrate the efficacy of the presented algorithm.
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| 关 键 词： | 飞行姿势评估 修改参数 飞机 姿态错误 |
| 收稿时间： | 12 November 2007 |
Flight Vehicle Attitude Determination Using the Modified Rodrigues Parameters |
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| Chen Jizheng,Yuan Jianping,Fang Qun.Flight Vehicle Attitude Determination Using the Modified Rodrigues Parameters[J].Chinese Journal of Aeronautics,2008,21(5):433-440. |
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| Authors: | Chen Jizheng Yuan Jianping Fang Qun |
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| Institution: | College of Astronautics, Northwestern Polytechnical University, Xi＇an 710072, China |
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| Abstract: | There are two attitude estimation algorithms based on the different representations of attitude errors when modified Rodrigues pa-rameters are applied to attitude estimation. The first is multiplicative error attitude estimator (MEAE), whose attitude error is expressed by the modified Rodrigues parameters representing the rotation from the estimated to the true attitude. The second is subtractive error attitude estimator (SEAE), whose attitude error is expressed by the arithmetic difference between the true and the estimated attitudes. It is proved that the two algorithms are equivalent in the case of small attitude errors. It is possible to describe rotation without encounter-ing singularity by switching between the modified Rodrigues parameters and their shadow parameters. The attitude parameter switching does not bring disturbance to MEAE, but it does to SEAE. This article introduces a modification to eliminate the disturbance on SEAE, and simulation results demonstrate the efficacy of the presented algorithm. |
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| Keywords: | attitude estimation modified Rodrigues parameters singularity attitude error |
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