| 基于改进容积卡尔曼滤波的奇异避免姿态估计 |
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| 引用本文： | 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. |
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| 作者姓名： | 魏喜庆 宋申民 |
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| 作者单位： | 哈尔滨工业大学控制理论与制导技术研究中心,黑龙江哈尔滨,150001 |
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| 摘 要： | 利用矢量进行卫星姿态估计可以归结为非线性滤波问题。为了提高卫星姿态估计的精度,利用龙贝格-马尔塔(LM)迭代算法改进了容积卡尔曼滤波(CKF)。继而,提出改进容积卡尔曼滤波与四元数结合的容积四元数估计器(CQE),有效地避免了卫星大角度机动出现的奇异现象。进一步,给出了一种与影子修正罗德里格参数切换的容积修正罗德里格参数估计器(CME)。仿真对比表明,初始误差较大时容积修正罗德里格参数估计器具有更好的收敛速度和鲁棒性。
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| 关 键 词： | 姿态估计 LM算法 四元数 修正罗德里格参数 卡尔曼滤波 容积卡尔曼滤波 |
| 收稿时间： | 2012-05-03; |
Improved Cubature Kalman Filter Based Attitude Estimation Avoiding Singularity |
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| WEI Xiqing
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SONG Shenmin.Improved Cubature Kalman Filter Based Attitude Estimation Avoiding Singularity[J].Acta Aeronautica et Astronautica Sinica,2013,34(3):610-619. |
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| Authors: | WEI Xiqing SONG Shenmin |
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| Institution: | Center of Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China |
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| 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. |
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| Keywords: | attitude estimation LM algorithm quaternion modified Rodrigues parameters Kalman filter cubature Kalman filter |
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