This paper is concerned with the adaptive robust cubature Kalman filtering problem for the case that the dynamics model error and the measurement model error exist simultaneously in the satellite attitude estimation system. By using Hubel-based robust filtering methodology to correct the measurement covariance formulation of cubature Kalman filter, the proposed filtering algorithm could effectively suppress the measurement model error. To further enhance this effect and reduce the impact of the dynamics model error, two different adaptively robust filtering algorithms, one with the optimal adaptive factor based on the estimated covariance matrix of the predicted residuals and the other with multiple fading factors based on strong tracking algorithm, are developed and applied for the satellite attitude estimation. The quaternion is employed to represent the global attitude parameter, and three-dimensional generalized Rodrigues parameters are introduced to define the local attitude error. A multiplicative quaternion error is derived from the local attitude error to maintain quaternion normalization constraint in the filter. Simulation results indicate that the proposed novel algorithm could exhibit higher accuracy and faster convergence compared with the multiplicative extended Kalman filter, the unscented quaternion estimator, and the adaptive robust unscented Kalman filter. 相似文献
The plunger component is a key part of the plunger pump in the aircraft hydraulic system. Neck-spinning process is commonly used to fabricate plunger components, of which the quality of the spinning process significantly affects the performance of plunger pumps. One of the bottlenecks faced by the industry in the spinning process is to choose a suitable neck-spinning process so as to ensure the quality of plunger components. It is necessary to propose a reliable method to optimize the process parameters which affect the neck-spinning quality of plunger components. In this study, a calculable finite element analysis (FEA) model is established to simulate the three-roller neck-spinning process of the plunger component, which includes six typical slipper structures, two roller structures, and two spinning parameters. The FEA model is then validated by comparing the simulated spinning forces with the corresponding experimental results. The influence of the process conditions on the neck-spinning quality is investigated. And the orthogonal simulation results are analyzed by a combination of range method and fuzzy mathematical analysis method to recommend a reasonable slipper structure, roller structure and neck-spinning parameters. This study provides a promising method to improve the manufacturing quality of the typical plunger components. 相似文献