刚体姿态估计的类Rodrigues参数算法研究

针对Rodrigues参数描述刚体姿态运动时的缺陷，提出了一种类Rodrigues参数的姿态估计算法，从定义上避免了Rodrigues参数和修正Rodrigues参数在π-，-π，2π，-2π时的奇异。推导了类Rodrigues参数描述的姿态运动学微分方程，给出了坐标变换的类Rodrigues参数描述，讨论了类Rodr...

Rigid Body Attitude Estimation Algorithm Based on Similar Rodrigues Parameter

In order to get rid of the limitation of Rodrigues parameter represents rigid body attitude, similar Rodrigues parameters were proposed for attitude determination in this paper, which would avoid singularity that appeared in Rodrigues parameters and modified Rodrigues parameters at π- π, 2π, -2π in definition. A simple derivation of similar Rodrigues parameters based attitude kinematics equation was presented. Coordinate transformation using similar Rodrigues parameters was given. The property and operation of similar Rodrigues parameters were discussed. The exclusion of attitude representation based on similar Rodrigues parameters was proved. The relationship of similar Rodrigues parameters with other attitude representation, such as Euler angle, quaternion, rotation vector and direction cosine matrix were also provided. A recursive solution of similar Rodrigues parameters was given to attitude algorithm to facilitate its application in SINS. The simulation results of some standard ballistic tracer which generated from STK in Matlab software showed that the attitude estimation algorithm using similar Rodrigues parameter could avoid the occurrence of singularity and was more efficient on calculations than widely used quaternion based kinematics equation, which was an important significance in theory and reference.