| 用于微小型飞行器姿态估计的四元数扩展卡尔曼滤波算法 |
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| 引用本文： | 薛亮,苑伟政,常洪龙,秦伟,袁广民,姜澄宇.用于微小型飞行器姿态估计的四元数扩展卡尔曼滤波算法[J].纳米技术与精密工程,2009,7(2):163-167. |
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| 作者姓名： | 薛亮 苑伟政 常洪龙 秦伟 袁广民 姜澄宇 |
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| 作者单位： | 西北工业大学陕西省微/纳米系统重点实验室,西安,710072 |
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| 摘 要： | 针对MEMS陀螺、加速度计、磁强计组合的姿态确定系统，笔者设计了用于微小型飞行器姿态估计的四元数扩展卡尔曼滤波算法．取姿态误差四元数和陀螺随机漂移构建滤波状态向量，通过误差四元数微分方程和陀螺随机误差模型建立了卡尔曼滤波状态方程；采用改进的高斯-牛顿算法将传感器观测量转化为四元数，通过与利用陀螺信息估计的四元数相乘，得到姿态误差四元数作为卡尔曼滤波量测值，显著减小了机动加速度对姿态估计的影响．仿真实验显示：四元数静态估计误差小于0．22％，在动态情况下，四元教估计值能够较好地跟踪真实值的变化，表明该滤波算法能够有效提高姿态估计的精度．
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| 关 键 词： | 姿态估计 四元数 扩展卡尔曼滤波器 微机电陀螺 高斯-牛顿 |
Application of Quaternion-Based Extended Kalman Filter for MAV Attitude Estimation Using MEMS Sensors |
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| XUE Liang,YUAN Wei-zheng,CHANG Hong-long,QIN Wei,YUAN Guang-min,JIANG Cheng-yu.Application of Quaternion-Based Extended Kalman Filter for MAV Attitude Estimation Using MEMS Sensors[J].Nanotechnology and Precision Engineering,2009,7(2):163-167. |
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| Authors: | XUE Liang YUAN Wei-zheng CHANG Hong-long QIN Wei YUAN Guang-min JIANG Cheng-yu |
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| Affiliation: | Micro and Nano Electromechanical Systems Laboratory;Northwestern Polytechnical University;Xi'an 710072;China |
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| Abstract: | In this paper, a new quaternion-based extended Kalman filter algorithm was proposed to improve the accuracy of attitude estimation of micro aerial vehicles based on the MEMS sensors such as gyroscope, accelerometer and magne-tometer. Attitude quaternion errors and drift bias of gyroscope were selected to construct a state vector,and the state equa-tion was established based on attitude quaternion error differential equation and stochastic error model of gyroscope. The modified Gauss-Newton algorithm was use... |
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| Keywords: | attitude estimation quatemion extended Kalman filter MEMS gyroscope Gauss-Newton |
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