| 一种基于地球重力场和磁场的姿态估计新算法 |
| |
| 引用本文： | 傅建国,王孝通,金良安,马野.一种基于地球重力场和磁场的姿态估计新算法[J].电子学报,2005,33(3):567-570. |
| |
| 作者姓名： | 傅建国 王孝通 金良安 马野 |
| |
| 作者单位： | 海军大连舰艇学院航海系,辽宁大连 116018 |
| |
| 摘 要： | 本文分析了基于地球重力场和磁场矢量观测进行姿态测量的算法存在的不足,提出了一种新的基于四元数的递推优化估计算法,算法本身内蕴保证了四元数估计值具有单位长度,在结合载体动态实现递推估计的同时,消除了现有递推算法中要求准确已知当地地磁矢量的限制,并可同步提供载体姿态的角速率信息.仿真结果表明了所提算法可以明显地提高测量精度.
|
| 关 键 词： | 姿态测量 非线性估计 重力加速度 地磁场 四元数 |
| 文章编号： | 0372-2112(2005)03-0567-04 |
| 收稿时间： | 2003-12-29 |
A New Quaternion-Based Attitude Estimation Algorithm Using the Gravitational Field and Geomagnetic Field Observation |
| |
| FU Jian-guo,WANG Xiao-tong,JIN Liang-an,MA Ye.A New Quaternion-Based Attitude Estimation Algorithm Using the Gravitational Field and Geomagnetic Field Observation[J].Acta Electronica Sinica,2005,33(3):567-570. |
| |
| Authors: | FU Jian-guo WANG Xiao-tong JIN Liang-an MA Ye |
| |
| Affiliation: | Department of Navigation,Dalian Naval Academy,Dalian 116018,China |
| |
| Abstract: | To cover the shortage of the existing attitude determination algorithms based on the gravitational field and geomagnetic field vectors observation,a new quatern ion-based recursive optimal estimation algorithm is proposed.The unit length of the estimated quaternion is guarantied inherently in the new algorithm.The algor ithm eliminates the limitation of knowing the exact geomagnetic field vector whi ch is required in the former recursive estimation algorithms.And the attitude-ra te information can be synchronously provided.The simulation results show that th e presented method can markedly improve the measuring accuracy. |
| |
| Keywords: | attitude determination nonlinear estimation gravity acceleration geomagnetic fie ld quaternion |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《电子学报》浏览原始摘要信息 |
|
点击此处可从《电子学报》下载全文 |
