基于开关扩展卡尔曼滤波的姿态估计

针对低成本动中通系统中的姿态估计问题，提出一种开关扩展卡尔曼滤波算法。以 无航向角的姿态更新算法为基础，根据微机械陀螺和加速度计分别建立系统状态方程和测量 方程。针对机动加速度的影响，设计了三维开关扩展卡尔曼滤波方程，对载体姿态角和陀螺 零偏进行实时估计。实验结果表明，该算法能够准确估计载体姿态和陀螺零偏，姿态角估计 误差小于0.5°，俯仰角和横滚角估计误差的方差分别为0.130 1°和0.140 5°， 两轴陀螺零偏误差均值均小于(2×10-4) °/s，能够满足动中通的应用要求。

Attitude estimation based on switched extended Kalman filter

An attitude estimation method using Switched Extended Kalman Filter(SEKF) is proposed for low cost SatCom on-the-move(SOTM).Based on no-heading attitude updating algorithm,the state function and the measure function are estibalished respectively by gyros and accelerometers.For the effect of movement acceleration,three dimensions SEKF equation is designed for estimation of attitude and gyros’ bias.The results of experiment indicate that the method can precisely estimate attitude and gyros’ bias,which satisfies the demand of SOTM.Estimated error of attitude is less than 0.5°,and variance of pitch and roll is 0.1301°and 0.1405°,respectively.The estimated mean error of gyros’ bias is less than(2×10-4) °/s.