基于不完整双矢量观测的三轴姿态确定算法  

Three-axis attitude determination from incomplete two vector observations

作　　者：谭彩铭 高翔 徐国政 陈盛 Tan Caiming;Gao Xiang;Xu Guozheng;Chen Sheng(School of Automation,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)

机构地区：[1]南京邮电大学自动化学院

出　　处：《仪器仪表学报》2018年第11期140-146,共7页Chinese Journal of Scientific Instrument

基　　金：江苏省高等学校自然科学研究面上项目(17KJD535001);南京邮电大学引进人才科研启动基金项目(NY217138,NY215050);南京邮电大学自制实验仪器设备项目(2017XZZ04)资助

摘　　要：基于多个矢量观测的姿态确定算法主要有三轴姿态测定(TRIAD)算法和基于Wahba问题的最优姿态确定算法,这些算法至少需要两个非共线矢量的完整观测信息,事实上,两个非共线矢量的完整观测信息对于确定姿态是信息冗余的。基于几何原理提出了在给定不完整双矢量观测信息时的最简姿态确定算法,它只需要包含两个非共线矢量的3个元素和剩下3个元素中的部分元素的有限信息(如符号或粗略值)就可姿态确定,通过实验验证了所提算法的有效性。最简姿态确定算法在自校准、设备自检以及优化姿态确定算法等方面有潜在的应用价值。Attitude determination algorithms based on multiple vector observations mainly include triaxial attitude determination (TRIAD) algorithm and Wahba problem-based optimal attitude determination algorithm.These algorithms require at least two non-collinear vector complete observation information.In fact,the complete observation information of the two non-collinear vectors is information redundant for determining the pose.Based on the geometric principle,this paper proposes the simplest pose determination algorithm for given incomplete double vector observation information.It only needs to contain three elements of two non-collinear vectors and limited information (such as symbols or rough values)of some of the remaining three elements to determine the attitude.The effectiveness of the proposed algorithm is verified by the experiment.The simplest pose determination algorithm has potential application value in selfcalibration,equipment self-test,and optimization of the attitude determination algorithm.

关 键 词：姿态确定 矢量观测 初始对准 Wahba 

分 类 号：V249.31[航空宇航科学与技术—飞行器设计] TH76[机械工程—仪器科学与技术]