低成本姿态测量系统研究  

Low-cost Attitude Measurement System

作　　者：刘海颖[1] 王惠南[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《南京理工大学学报》2007年第2期233-237,共5页Journal of Nanjing University of Science and Technology

基　　金：教育部博士点基金(20030287005)

摘　　要：针对由低精度的惯性陀螺、加速度计、磁强计组成的低成本姿态测量系统,该文进行了组合算法研究。设计了有陀螺测量和基于四元数差分法的无陀螺测量2种广义卡尔曼滤波器(EKF);采用四元数避免了欧拉角法的奇异问题;用高斯-牛顿误差最小法将六维观测量转化为四元数,作为观测量的一部分,显著减少了直接使用EKF的计算量。设计了仿真数据进行算法验证,成功地得到姿态估计,并对2种EKF滤波器在低速和高速状态下进行验证,取得良好效果。This paper studies the integrated algorithms for a low-cost attitude measurement system which is made up of three less accurate sensors： inertial gyro, accelerometer and magnetometer. Two extended Kalman filtering （EKF） algorithms are designed. One incorporates rate measurement while the other relays on differencing quatemion. They use quatemion to avoid the problem of singularity from Eurlar angles . Gauss-Newton error minimization is used to transform six-dimentional reference vector to quatemion as a part of observations for EKF, which significantly reduces the computational requirement. Simulated data are used to test the algorithms, and each estimates the attitude successfully. The two algorithms are tested and proved feasible in the situations of low and high rate attitude motions

关 键 词：姿态测量 广义卡尔曼滤波 四元数 高斯-牛顿 

分 类 号：V488.2[航空宇航科学技术]