机动加速度辅助的航姿系统扩展卡尔曼滤波  

Maneuvering acceleration assisted extended Kalman filter for attitude and heading reference system

作　　者：郭鹏飞[1] 任章[1] 邱海韬[2] 杨云春 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100083 [2]中国航天科工信息技术研究院,北京100037 [3]北京耐威时代科技有限公司,北京100029

出　　处：《系统工程与电子技术》2009年第3期625-628,637,共5页Systems Engineering and Electronics

基　　金：航空科学基金资助课题(20070851011)

摘　　要：低精度航姿系统一般采用基于重力场和地磁场矢量观测的6态扩展卡尔曼滤波,载体长时间机动时,模型存在较大误差,无法保持稳定的姿态精度。将载体机动加速度描述为当前统计模型,提出了一种机动加速度辅助的9态扩展卡尔曼滤波,其状态变量包括三个姿态角误差、三轴陀螺零偏误差和三轴载体加速度误差,观测量为三轴加速度误差和三轴地磁场误差。实验表明,将航姿系统固定在转台上产生0.6 g的向心加速度时,9态扩展卡尔曼滤波在对机动加速度进行稳定估计的同时,姿态精度保持在1度以内。The low cost AHRS （attitude and heading reference system） commonly adopt 6-state EKF （extended Kalman filter） based on the gravity field and the magnetic field vector observations. When the carrier maneuvered with a long time, the model presented big errors and 6-state EKF could not get stable attitude accu racy. The maneuvering acceleration is described with current statistical model. A 9-state EKF is introduced with 9 states of three attitude errors, three-axis gyroscopes bias errors and three-axis maneuvering acceleration errors. The observations includ three-axis acceleration errors and three-axis magnetic filed errors of the earth. When AHRS rotates with acceleration centripetal of 0. 6 g on the rotation table, the experimental resuhs show that 9 state EKF could get stable estimation of three-axis maneuvering accelerations and the attitude accuracy is better than 1 degree.

关 键 词：机动加速度 扩展卡尔曼滤波 当前统计模型 重力场 地磁场 

分 类 号：V241.6[航空宇航科学与技术—飞行器设计]