状态切换UKF的飞行器姿态确定算法  

State switch UKF algorithm and its application in attitude estimation

作　　者：吴勃[1] 徐欢[2] 乔相伟 

机构地区：[1]哈尔滨理工大学自动化学院,黑龙江哈尔滨150080 [2]北京环球信息应用开发中心,北京100094 [3]西安航天精密机电研究所系统工程事业部,陕西西安710100

出　　处：《电机与控制学报》2012年第6期98-105,共8页Electric Machines and Control

基　　金：黑龙江省自然科学基金(F0320)

摘　　要：针对全维无迹卡尔曼滤波(UKF)算法状态维数倍增所带来的计算负担加剧的问题,提出一种过程和量测不相关的状态切换UKF算法。该算法通过在预测和量测阶段选取不同的状态变量,降低实时滤波的状态维数及Sigma点的选取个数,减小了计算量,提高了运算速度。针对姿态确定中四元数规范化限制,给出一种参数切换算法,在滤波过程中通过四元数与修正罗德里格斯参数实时切换,解决了四元数加权均值和协方差奇异性问题。针对SINS/CCD姿态的仿真实验结果表明,与全维UKF算法相比,状态切换UKF算法估计精确度相当,估计时间缩短了约1/3。Abstract：Considering the sharply increased computation burden caused by the increasement of state di- mension multiplication in Augmented unscented Kalman filter （AUKF） , a state switch unscented Kalman filter （SUKF） algorithm whose process and measurement noise has no correlation was proposed. Via se- lecting different state variables in time update and measurement update stage, the state dimension of real- time filtering was reduced and the number of Sigma points selected decreased, so the filter computation was reduced and speed was improved. Aming at the quaternion normalization restrictions in attitude deter- mination, a parameter-switching algorithm was proposed. Through switching the quaternion parameter and the modified rodriguez parameter（MRPs） , the quaternion weighted meanand covariance singularity prob- lems were solved. The SINS/CCD attitude simulation results show that： compared with the AUKF, the proposed algorithm estimation accuracy is about equal and the estimation time reduces approximately 1/3.

关 键 词：姿态估计 状态切换无迹卡尔曼滤波 四元数 参数切换 

分 类 号：U666.12[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]