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1.
An adaptive attitude observer‐controller scheme is proposed for attitude tracking of a rigid body. In the derived observer, the vector measurements are directly utilized to estimate gyro bias, and thus estimates of gyro bias are obtained independent to attitude estimates. The proposed observer is even robust towards fluctuation of gyro bias. Then an adaptive controller is proposed on the Special Orthogonal Group to track the reference trajectory subject to uncertain inertia parameters. This controller belongs to the non‐certainty‐equivalent framework, and the vector signals are also utilized into estimation of inertia parameters. It is ensured that the estimates of inertia parameters can converge towards real values to some degrees. Simulation results compared with previous observer and controller schemes verify the effectiveness of the proposed scheme. 相似文献
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A coupled nonlinear spacecraft attitude controller and observer with an unknown constant gyro bias and gyro noise 总被引:1,自引:0,他引:1
We propose a new algorithm for estimating constant biases in gyro measurements of angular velocity, and demonstrate that the resulting estimates converge to the true bias values exponentially fast. The new observer is then combined with a nonlinear attitude tracking control strategy in a certainty equivalence fashion, and the combination shown via Lyapunov analysis to produce globally stable closed-loop dynamics, with asymptotically perfect tracking of any commanded attitude sequence. The analysis is then extended to consider the effects of stochastic measurement noise in the gyro in addition to the bias. A simulation is given for a rigid spacecraft tracking a specified, time-varying attitude sequence to illustrate the theoretical claims. 相似文献
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针对具有矢量观测的卫星姿态估计问题。提出一种基于Marginalized粒予滤波(MPF)的算法.采用Rao-Blackwellization技术,将卫星模型状态向量中的线性状态部分(陀螺漂移)和非线性状态部分(卫星姿态)分开处理,从而使得估计的方差降低.以较少的运算量获得较好的估计效果.通过引入解决含等式约束条件的估计问题方法,保证了姿态四元数的归一化.将所提出的方法应用于某型号卫星.仿真验证了用该算法处理卫星姿态估计问题的优越性. 相似文献
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Nonlinear Complementary Filters on the Special Orthogonal Group 总被引:1,自引:0,他引:1
《Automatic Control, IEEE Transactions on》2008,53(5):1203-1218
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The problem of attitude and rate gyro bias estimation is addressed by resorting to measurements acquired from rate gyros and vector observations. A Set-Valued Observer (SVO) is proposed that has no singularities and that, for any initial conditions, provides a bounding set with guarantees of containing the actual (unknown) rotation matrix. The sensor readings are assumed to be corrupted by bounded measurement noise and constant gyro bias. Conditions for the boundedness of the estimated sets are established and implementation details are discussed. The feasibility of the technique is demonstrated in simulation. 相似文献
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Global navigation satellite system (GNSS) receivers suffer from an internal time-delay of up to several hundred milliseconds leading to a degeneration of position accuracy in high-dynamic systems. With the increasing interest in GNSS navigation, handling of time-delays will be vital in high accuracy applications with high velocity and fast dynamics. This paper presents a nonlinear observer structure for estimating position, linear velocity, and attitude (PVA) as well as accelerometer and gyro biases, using inertial measurements and time-delayed GNSS measurements. The observer structure consists of four parts; (a) attitude and gyro bias estimation, (b) time-delayed translational motion observer estimating position and linear velocity, (c) input delays for inertial and magnetometer measurements, and (d) a faster than real-time simulator. The delayed PVA and gyro bias estimates are computed using a uniformly semiglobally exponentially stable (USGES) nonlinear observer. The high-rate inertial measurements are delayed and synchronized with the GNSS measurements in the state observer. The fast simulator integrates the inertial measurements from the delayed state estimate to provide a state estimate at current time. The sensor measurements are carefully synchronized and the estimation procedure for the GNSS receiver delay is discussed. Experimental data from a small aircraft are used to validate the results. 相似文献
7.
An algorithm based on the marginalized particle filters (MPF) is given in details in this paper
to solve the spacecraft attitude estimation problem: attitude and gyro bias estimation using the
biased gyro and vector observations. In this algorithm, by marginalizing out the state appearing
linearly in the spacecraft model, the Kalman filter is associated with each particle in order to
reduce the size of the state space and computational burden. The distribution of attitude vector
is approximated by a set of particles and estimated using particle filter, while the estimation of
gyro bias is obtained for each one of the attitude particles by applying the Kalman filter.
The efficiency of this modified MPF estimator is verified through numerical simulation of a fully
actuated rigid body. For comparison, unscented Kalman filter (UKF) is also used to gauge the
performance of MPF. The results presented in this paper clearly demonstrate that the MPF is superior
to UKF in coping with the nonlinear model. 相似文献
8.
An algorithm based on the marginalized particle filters (MPF) is given in details in this paper to solve the spacecraft attitude estimation problem: attitude and gyro bias estimation using the biased gyro and vector observations. In this algorithm, by marginalizing out the state appearing linearly in the spacecraft model, the Kalman filter is associated with each particle in order to reduce the size of the state space and computational burden. The distribution of attitude vector is approximated by a set of particles and estimated using particle filter, while the estimation of gyro bias is obtained for each one of the attitude particles by applying the Kalman filter. The efficiency of this modified MPF estimator is verified through numerical simulation of a fully actuated rigid body. For comparison, unscented Kalman filter (UKF) is also used to gauge the performance of MPE The results presented in this paper clearly derfionstrate that the MPF is superior to UKF in coping with the nonlinear model. 相似文献
9.
This paper addresses the distributed observer‐based leader‐follower attitude consensus control problem for multiple rigid bodies. An intrinsic distributed observer is proposed for each follower to estimate the leader's trajectory, which is only available to a subset of followers. The proposed observer can guarantee that the estimated attitude evolves on rotation matrices all the time, and it provides us with a simple way to design the attitude consensus control law. The dynamics of rigid bodies and distributed observer are both modeled directly on rotation matrices, so that the singularity and ambiguity can be avoided. Furthermore, adopting the idea of disturbance observer on vector space, a gyro bias observer on the rotation matrices is proposed. Based on the distributed observer, three types of attitude consensus control law are proposed, which are respectively on the basis of full‐state, biased angular velocity, and external disturbance combined with biased angular velocity. Finally, the SimMechanics experiments are provided to illustrate effectiveness of the proposed theoretical results. 相似文献
10.
Pedro Batista Carlos Silvestre Paulo Oliveira 《Journal of Intelligent and Robotic Systems》2011,64(2):221-243
This paper presents the design and performance evaluation of a novel integrated attitude filter with application to space
navigation. The design is based directly on the sensor measurements as opposed to traditional solutions that resort to rotation
parameterizations. The information provided by a low-cost star tracker is merged with the measurements of a triaxial rate
gyro to provide accurate estimates of the attitude. The proposed multirate solution also includes the estimation of rate gyro
bias and tuning procedures. Simulation and experimental results, including ground truth data for performance evaluation purposes,
are shown that illustrate the attainable performance in the presence of realistic measurements provided by low-cost star trackers. 相似文献
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This paper presents a novel observer for attitude estimation based on a triad of high‐grade rate gyros aided by a body‐fixed vector measurement of a constant inertial vector, departing from the majority of solutions that consider at least two of these vectors. A cascade approach is proposed, where the first block estimates a vector that is related to the angular velocity of the Earth and a second block estimates the attitude. While the topological characteristics are relaxed in the attitude observer so that global exponential stability is achieved, an additional stage is also devised that yields estimates directly on the special orthogonal group, preserving global convergence of the estimation error. Simulation results with realistic sensor noise were performed, including extensive Monte Carlo runs. These results illustrate the convergence of the proposed solution, as well as the achievable performance and robustness to sensor noise. 相似文献
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An observer problem from a computer vision application is studied. Rigid body pose estimation using inertial sensors and a monocular camera is considered and it is shown how rotation estimation can be decoupled from position estimation. Orientation estimation is formulated as an observer problem with implicit output where the states evolve on SO(3). A careful observability study reveals interesting group theoretic structures tied to the underlying system structure. A locally convergent observer where the states evolve on SO (3) is proposed and numerical estimates of the domain of attraction is given. Further, it is shown that, given convergent orientation estimates, position estimation can be formulated as a linear implicit output problem. From an applications perspective, it is outlined how delayed low bandwidth visual observations and high bandwidth rate gyro measurements can provide high bandwidth estimates. This is consistent with real-time constraints due to the complementary characteristics of the sensors which are fused in a multirate way. 相似文献
14.
In this paper an unscented Kalman filter based procedure for the bias estimation of both the magnetometers and the gyros carried onboard a pico satellite, is proposed. At the initial phase, biases of three orthogonally located magnetometers are estimated as well as the attitude and attitude rates of the satellite. During the initial period after the orbit injection, gyro measurements are accepted as bias free since the precise gyros are working accurately and the accumulated gyro biases are negligible. At the second phase estimated constant magnetometer bias components are taken into account and the algorithm is run for the estimation of the gyro biases that are cumulatively increased by time. As a result, six different bias terms for two different sensors are obtained in two stages, where attitude and attitude rates are estimated regularly. For both estimation phases of the procedure an unscented Kalman filter is used as the estimation algorithm. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society 相似文献
15.
针对难以配置高精度部件的皮纳卫星姿态测量系统,当卫星处于阴影区或任何太阳敏感器不可用的状态下,MEMS陀螺与磁强计的组合便成为卫星在轨姿态测量精度的重要保障.本文基于MEMS陀螺与磁强计的低功耗、全轨、全天时、最小姿态敏感组合,提出一种适用于皮纳卫星在轨运行的滤波系统方案.该方案通过滑窗ARMA建模降低陀螺随机噪声的影响,并由姿态滤波器估计所得的零偏在线去除陀螺常值分量,以保证其建模的长期有效性.本文以浙江大学皮星二号卫星搭载的敏感部件以及姿态测量算法为研究基础,结合在轨实测数据,仿真对比表明,该系统方案有效降低了陀螺随机噪声,抑制比达50%以上;陀螺零偏估计精度提高310%,可达到0.001°/s;姿态确定精度提升190%,可达1.2127°.该系统方案是对皮纳卫星姿态确定最小系统精度提升及实用方案设计的有益探索. 相似文献
16.
为提高钻探中的钻具姿态测量精度,提出一种基于重力四元数的MEMS惯性随钻姿态测量方法.采用MEMS惯性器件构建钻具姿态测量系统,把加速度计数据解算的姿态四元数作为观测四元数,陀螺仪数据解算的姿态四元数作为误差四元数;然后将陀螺仪漂移融入误差四元数,建立重力四元数估计陀螺仪误差四元数的模型,采用最小二乘法估计陀螺仪三轴漂移,进而补偿陀螺仪姿态四元数;通过补偿后的姿态四元数解算出钻具姿态.最后设计了转台、振动台实验和钻进模拟实验,实验结果表明,姿态四元数补偿后的井斜角和工具面角漂移由平均10 °/h减小到约0.2 °/h,方位角误差由平均12 °/h减小到约0.46 °/h,实现了加速度计补偿陀螺的三轴漂移,表明该方法能够有效提高钻具的姿态测量精度. 相似文献
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基于神经网络观测器的卫星姿态控制系统陀螺故障诊断 总被引:1,自引:0,他引:1
针对基于解析模型的卫星姿态控制系统陀螺故障诊断方法存在设计复杂、参数求解困难的问题,提出一种基于神经网络观测器的陀螺故障诊断方法。由系统内的冗余关系导出故障诊断逻辑,实现对陀螺故障的检测和隔离;同时利用先验模型知识和神经网络的非线性建模特性对陀螺故障进行估计。仿真结果表明,该方法能够实现对陀螺故障的检测、隔离和估计。 相似文献
20.
This paper addresses the problem of position and attitude estimation, based on landmark readings and velocity measurements. A derivation of a nonlinear observer on SE(3) is presented, using a Lyapunov function conveniently expressed as a function of the difference between the estimated and the measured landmark coordinates. The resulting feedback laws are explicit functions of the landmark measurements and velocity readings, exploiting the sensor information directly in the observer. The proposed observer yields almost global asymptotic stabilization of the position and attitude errors and exponential convergence in any closed ball inside the region of attraction. Also, it is shown that the asymptotic convergence of the estimation error trajectories is shaped by the landmark geometry and observer design parameters. The problem of non-ideal velocity readings is also considered, and the observer is augmented to compensate for bias in the angular and linear velocity measurements. The resulting position, attitude, and bias estimation errors are shown to converge exponentially fast to the desired equilibrium points, for bounded initial estimation errors. Simulation results are presented to illustrate the stability and convergence properties of the observer. 相似文献