基于Rodrigues参数的姿态估计算法

 以Rodrigues参数作为姿态描述参数提出一种快速的全姿态估计算法。Rodrigues参数具有简洁高效的特点，但它具有奇异性，不适用于大角度情况。首先将序贯旋转方法和Rodrigues参数相结合，提出了一种简洁、无奇异的姿态描述方法。然后应用该姿态描述方法，针对“矢量观测+陀螺”这种典型的姿态测量方案，讨论飞行器的姿态估计问题。在姿态估计算法设计中，给出了陀螺模型和观测矢量模型，推导了状态和状态误差协方差阵的预测方程和量测更新方程，并提出了预测方程的一种高效积分方法。仿真结果表明在估计精度等同的条件下，该姿态估计算法比四元数算法效率大约提高10%。

Attitude Estimation Algorithm Based on Rodrigues Parameter

A fast all-attitude estimation algorithm is proposed using Rodrigues parameter to describe the attitude.Rodrigues parameter is simple and efficient in the problem of attitude estimation,but it cannot be used in large-angle motions,because it will be singular.A simple and non-singularity attitude representation is presented by combining the method of sequential rotations and Rodrigues parameter.Then,the problem of attitude estimation using the presented attitude representation for the typical attitude determination mode composed of vector observations and gyros is discussed.In the process of designing attitude estimation algorithm,the gyros model and vector observation model are provided in the first step.Subsequently the state and covariance propagation and update equations are derived.Then an efficient integration method for state and covariance propagation is presented.Simulation results demonstrate that the attitude estimation accuracy using the new method is equivalent to that using the quaternion estimation algorithm,but the former shows a reduction of about 10% in computational load.