| Marginalized particle filter for spacecraft attitude estimation from vector measurements |
| |
| 引用本文： | Yaqiu LIU,Xueyuan JIANG,GuangfuMA. Marginalized particle filter for spacecraft attitude estimation from vector measurements[J]. 控制理论与应用(英文版), 2007, 5(1): 60-66. DOI: 10.1007/s11768-005-5294-2 |
| |
| 作者姓名： | Yaqiu LIU Xueyuan JIANG GuangfuMA |
| |
| 作者单位： | 1.School of Astronautics，Harbin Institute of Technology，Harbin Heilongjiang 150001，China;2.Information and Computer Engineering College，Northeast Forestry University，Harbin Heilongjiang 150040，China |
| |
| 基金项目： | This work was supported by the Research Fund for the Doctoral Program of Higher Education of China （No. 20050213010）, the National High Technology Research and Development Program of China （863 Program） （No. 2004AA735080）. |
| |
| 摘 要： | 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.
|
| 关 键 词： | 太空船 姿态估计 矢量测量 边缘化粒子滤波器 |
| 收稿时间： | 2005-11-07 |
| 修稿时间： | 2006-08-27 |
Marginalized particle filter for spacecraft attitude estimation from vector measurements |
| |
| Yaqiu LIU,Xueyuan JIANG,GuangfuMA. Marginalized particle filter for spacecraft attitude estimation from vector measurements[J]. Journal of Control Theory and Applications, 2007, 5(1): 60-66. DOI: 10.1007/s11768-005-5294-2 |
| |
| Authors: | Yaqiu LIU Xueyuan JIANG GuangfuMA |
| |
| Affiliation: | 1. School of Astronautics,Harbin Institute of Technology,Harbin Heilongjiang 150001,China;Information and Computer Engineering College,Northeast Forestry University,Harbin Heilongjiang 150040,China
2. School of Astronautics,Harbin Institute of Technology,Harbin Heilongjiang 150001,China |
| |
| Abstract: | 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. |
| |
| Keywords: | Attitude estimation Particle filter Spacecraft Nonlinear filter Quaternion |
| 本文献已被 CNKI 维普 万方数据 SpringerLink 等数据库收录！ |
| 点击此处可从《控制理论与应用(英文版)》浏览原始摘要信息 |
|
点击此处可从《控制理论与应用(英文版)》下载全文 |
