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针对复杂环境下传感器噪声未知且不断变化,会导致姿态融合结果不准确的问题,设计了一种基于单新息自适应算法的卡尔曼滤波器,对加速度计和陀螺仪噪声协方差进行在线估计。首先,介绍了能够结合各个传感器优势的无人机姿态融合算法。然后,设计了采用基于单新息自适应算法的卡尔曼滤波器,给出了能够在线估计加速度噪声协方差R和陀螺仪噪声协方差Q的自适应算法。MATLAB仿真表明单新息自适应卡尔曼滤波器在环境噪声变化时,能够更准确地获得无人机的姿态信息,提高了姿态融合精确度,提高了滤波器的鲁棒性。 相似文献
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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
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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
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Adaptive Iterated Extended KALMAN Filter for Relative Spacecraft Attitude and Position Estimation
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This paper presents a novel adaptive iterated extended Kalman filter (AIEKF) for relative position and attitude estimation, taking into account the influence of model uncertainty. Considering a nonlinear stochastic discrete‐time system with unknown disturbance, the AIEKF algorithm adopts the Gauss‐Newton iterative optimization steps to implement a maximum a posteriori (MAP) estimation, and the switch‐mode combination technique is used to achieve the adaptive capability. The mean‐square estimation error (MSE) of the state estimate is derived. It is proved that the AIEKF can yield a smaller MSE than that of the traditional extended Kalman filter (EKF) or iterated extended Kalman filter (IEKF). The performance advantage of the AIEKF is illustrated via Monte Carlo simulations on a typical relative position and attitude estimation application. Through comparisons in different scenarios, the presented algorithm is shown to improve adaptability and ensure estimation accuracy. 相似文献
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基于Marginalized粒子滤波的卫星姿态估计算法 总被引:1,自引:0,他引:1
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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Daero Lee George Vukovich Regina Lee 《International Journal of Control, Automation and Systems》2017,15(5):2161-2173
A robust unscented Kalman filter based on a multiplicative quaternion-error approach is proposed for nanosat estimation in the presence of measurement faults. The global attitude parameterization is given by a quaternion, while the local attitude error is defined using a generalized three-dimensional attitude representation. The proposed algorithm uses a statistical function including measurement residuals to detect measurement faults and then uses an adaptation scheme based on multiple measurement scale factor for filter robustness against faulty measurements. The proposed algorithm is demonstrated for the attitude estimation of a nanosat with an on-board three-axis magnetometer and rate-integrating gyros in the presence of measurement faults as well as satellite orbit errors. To compare the estimation performance of the proposed algorithm, the robust unscented Kalman filter with single measurement noise scale factor, the standard extended Kalman filter and the unscented Kalman filter are also implemented under the same simulation conditions. 相似文献
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研究惯导系统的稳定性问题,其中微惯性测量单元(MIMU)可以为捷联惯导系统提供实时的姿态和航向信息。研究姿态估计提高导航精度,由于陀螺漂移引起姿态误差,单独使用MIMU使姿态精度差。为了克服陀螺误差随时间积累不断增大,无法长时间提供稳定的姿态的缺点,提出采用磁强计修正的卡尔曼滤波四元数姿态估计算法。算法以姿态四元数为状态向量,通过四元数更新方程建立离散滤波状态方程,将加速度计和磁强计输出的六维数据转化为四元数的量测值建立量测方程,有效减少了计算量,补偿陀螺的漂移误差带来的影响。仿真结果表明改进算法提高了捷联惯导系统的精度和稳定性。 相似文献
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基于四元数和卡尔曼滤波的两轮车姿态稳定方法 总被引:3,自引:0,他引:3
针对自平衡两轮车姿态角的在线估计问题,采用四元数的姿态解算算法,利用Levenberg-Marquardt非线性最小二乘法对自平衡两轮车陀螺仪信号拟合,建立了随机漂移误差数学模型,应用卡尔曼滤波融合陀螺仪和加速度计输出的信号,补偿了陀螺仪输出角速度的随机漂移误差,得到了自平衡两轮车姿态的最优估计。实验结果表明,这种姿态估计算法是有效的,有利于车体的自平衡控制。 相似文献
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四旋翼飞行器由于其简单的气动布局和复杂的动力学模型在控制领域引起了研究热潮,姿态估计与控制器设计一直是实现四旋翼飞行器稳定飞行的难点。为实现精确的四旋翼飞行器姿态估计,首先分析了IMU传感器示值组成和误差存在的原因,然后在方向余弦矩阵(DCM)和重正交化的基础上,具体给出了Mahony滤波器的实现流程。通过与扩展卡尔曼滤波器对比表明,该算法不仅能保证很高的姿态估计精度,而且计算时间小于扩展卡尔曼滤波器,有助于提高系统姿态估计的实时性。结合Mahony滤波后的姿态信息,采用嵌套PI-PID控制策略设计了控制器。最后,将姿态估计算法和控制算法应用到实验平台上,可以实现四旋翼飞行器悬停和角度跟踪功能。 相似文献
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针对无人机姿态解算过程中,机载加速度计噪声时变,导致姿态估计值出现较大误差的问题,提出了一种基于PI自适应卡尔曼滤波的姿态解算算法,通过监视残差方差的理论值与实际值的差值,利用PI控制算法对观测噪声协方差矩阵进行在线修正,来解决由于噪声估计不准而导致滤波发散的问题。实验结果表明,即使是在无人机的姿态发生剧烈变化时,该算法依然具有良好的精度,鲁棒性较好。 相似文献
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对传统多旋翼无人机姿态估计算法难以兼顾高精度、强实时性以及抗干扰能力差的问题,首先基于一种计算量较小的衍生无迹卡尔曼滤波算法,在量测更新中,将加速度数据和磁力计数据分为两个阶段进行姿态四元数校正处理,然后从旋转四元数的本质出发,推测出四元数各元素分别包含着不同的姿态角信息,最后将校正四元数分别乘上为降低校正过程中的相互干扰所设计的系数,提出一种基于四元数衍生无迹卡尔曼滤波的二段式多旋翼无人机姿态估计算法.通过使用PIXHAWK飞控数据,与传统姿态估计算法进行仿真实验对比,实验表明,本文提出算法与传统使用扩展卡尔曼滤波(EKF)或无迹卡尔曼滤波(UKF)的姿态估计算法相比,在实时性、解算精度和抗干扰能力方面有较大提升. 相似文献
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基于微陀螺、加速度计、磁强计以及GPS模块构建了姿态航向位置参考系统(Attitude heading position ref-erence system,AHPRS).首先,通过等效旋转矢量法由陀螺解算出估计姿态角;其次通过GPS、加速计的测量值,结合磁强计估计补偿姿态角,推导基于误差四元数的滤波方程,滤波器的周期... 相似文献
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