Flight Vehicle Attitude Determination Using the Modified Rodrigues Parameters  

修正Rodrigues参数在飞行器定姿中的应用(英文)

作　　者：陈记争[1] 袁建平[1] 方群[1] 

机构地区：[1]西北工业大学航天学院,西安710072

出　　处：《Chinese Journal of Aeronautics》2008年第5期433-440,共8页中国航空学报（英文版）

基　　金：National Natural Science Foundation of China (10572114)

摘　　要：There are two attitude estimation algorithms based on the different representations of attitude errors when modified Rodrigues parameters are applied to attitude estimation. The first is multiplicative error attitude estimator （MEAE）, whose attitude error is expressed by the modified Rodrigues parameters representing the rotation from the estimated to the true attitude. The second is subtractive error attitude estimator （SEAE）, whose attitude error is expressed by the arithmetic difference between the true and the estimated attitudes. It is proved that the two algorithms are equivalent in the case of small attitude errors. It is possible to describe rotation without encountering singularity by switching between the modified Rodrigues parameters and their shadow parameters. The attitude parameter switching does not bring disturbance to MEAE, but it does to SEAE. This article introduces a modification to eliminate the disturbance on SEAE, and simulation results demonstrate the efficacy of the presented algorithm.There are two attitude estimation algorithms based on the different representations of attitude errors when modified Rodrigues parameters are applied to attitude estimation. The first is multiplicative error attitude estimator （MEAE）, whose attitude error is expressed by the modified Rodrigues parameters representing the rotation from the estimated to the true attitude. The second is subtractive error attitude estimator （SEAE）, whose attitude error is expressed by the arithmetic difference between the true and the estimated attitudes. It is proved that the two algorithms are equivalent in the case of small attitude errors. It is possible to describe rotation without encountering singularity by switching between the modified Rodrigues parameters and their shadow parameters. The attitude parameter switching does not bring disturbance to MEAE, but it does to SEAE. This article introduces a modification to eliminate the disturbance on SEAE, and simulation results demonstrate the efficacy of the presented algorithm.

关 键 词：attitude estimation modified Rodrigues parameters SINGULARITY attitude error 

分 类 号：V249.122.2[航空宇航科学与技术—飞行器设计]