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基于四元数平方根容积卡尔曼滤波的姿态估计

, PP. 645-649

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Abstract:

针对飞行器姿态确定中乘性扩展卡尔曼滤波(MEKF,MultiplicativeExtendedKalmanFilter)在较大初始姿态误差角情况下存在估计精度低及收敛速度慢的问题,提出了一种四元数平方根容积卡尔曼滤波(QSCKF,QuaternionSquare-rootCubatureKalmanFilter)算法.在推导姿态确定系统四元数非线性误差模型的基础上,采用容积数值积分理论来计算非线性函数的均值与方差,同时使用平方根的形式来提高数值稳定性;针对四元数规范化问题,采用拉格朗日代价函数法求解四元数加权均值.仿真结果表明在初始姿态误差较大的情况下,该算法相比较于MEKF以及无迹四元数估计法(USQUE,UnscentedQuaternionEstimator),估计精度高且收敛速度快,滤波稳定性好,同时估计时间比USQUE缩短了1/3.

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