| 基于状态矩阵卡尔曼滤波的姿态估计算法研究 |
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| 引用本文： | 王冰,隋立芬,吴江飞,张宇.基于状态矩阵卡尔曼滤波的姿态估计算法研究[J].测绘工程,2013(5):21-24. |
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| 作者姓名： | 王冰 隋立芬 吴江飞 张宇 |
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| 作者单位： | [1]信息工程大学地理空间信息学院,河南郑州450052 [2]66240部队,北京100042 |
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| 基金项目： | 国家自然科学基金资助项目（41274016,41174006,40974010） |
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| 摘 要： | 设计一种组合GPS／速率陀螺定姿系统。系统以方向余弦矩阵表示姿态，建立GPS／速率陀螺组合状态模型和观测模型。结合kalman滤波算法，提出一种状态矩阵卡尔曼滤波（StateMatrixKalmanKilter，SMKF）姿态估计算法，并采用拉格朗日算法对姿态矩阵进行正交化约束。与传统的基于四元数的扩展卡尔曼滤波（EKF）算法相比，基于方向余弦矩阵的姿态系统状态方程与测量方程均为线性方程，无需线性化处理，对初始姿态误差更具有较好的鲁棒性。数值仿真表明，该方法具有精度高和稳定性强等优点。
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| 关 键 词： | 方向余弦矩阵 卡尔曼滤波 姿态估计 GPS 陀螺 |
A study of attitude estimation based on state matrix Kalman filter algorithm |
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| WANG Bing,SUI Li-fen,WU Jiang-fei,ZHANG Yu.A study of attitude estimation based on state matrix Kalman filter algorithm[J].Engineering of Surveying and Mapping,2013(5):21-24. |
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| Authors: | WANG Bing SUI Li-fen WU Jiang-fei ZHANG Yu |
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| Institution: | 1. School of Surveying and Mapping, Information Engineering University, Zhengzhou 450052, China; 2. Troops 66240, Beijing 100042, China) |
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| Abstract: | An integrated GPS/gyro attitude estimation system is designed. Choosing direction cosine matrix as attitude parameter, the state model and mesurement model of integrated GPS/ gyro are established. Combined with the KF algorithm, a state matrix Kalman algorithm （KF） is proposed. The orthogonality constraint on direction cosine matrix is satisfied with Lagrangian multipliers method. Compared with the multiplicative extended Kalman filter based on quaternion, both of the state equation and mesurement equation based on direction cosine matrix are linear, with no linearing required to calculate in the algorithm, which can quickly converge even for large initial attitude errors. Simulation results show that the new algorithm has high accuracy and good stability. |
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| Keywords: | direction cosine matrix kalman filter attitude estimation GPS Gyro |
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