电光与控制, 2013, 20 (7): 53, 网络出版: 2013-07-09
基于扩展卡尔曼滤波的动中通低成本姿态估计
LowCost Attitude Estimation Based on Extended Kalman Filter for SatcomontheMove
姿态估计 扩展卡尔曼滤波 单基线GPS 动中通 侧滑角 attitude estimation Extended Kalman Filter (EKF) single baseline GPS satcomonthemove sideslip angle
摘要
针对动中通系统低成本姿态估计问题,提出了一种基于扩展卡尔曼滤波的姿态估计算法。该算法以四元数作为状态变量,通过融合陀螺、加速度计以及单基线GPS位置和速度信息估计载体的姿态信息。针对载体机动加速度的影响,通过单基线GPS提供的速度信息对载体的机动加速度进行初步补偿;当载体发生转弯时,利用侧滑角补偿法进一步校正。实验结果表明,该算法成功融合了陀螺的短时精确性、加速度计的长时稳定性和GPS精确的测速和定位功能,系统的动态估计精度在±0.5°内,满足了动中通的应用要求。
Abstract
A lowcost attitude estimation method using Extended Kalman Filter (EKF) was proposed for satcomonthemove (SOTM)which taking Quaternion as state variablesand the attitude information was estimated by fusing the angular output of gyrosthe acceleration output of accelerometers and the position and velocity output of twoantenna GPS.The GPSmeasured velocity was used to compensate for the maneuvering accelerationand the sideslip angle was used to further correct the maneuvering acceleration when the vehicle was turning.Experiment results show that the proposed method can combine together the good shortterm accuracy of gyrosthe good longterm stability of accelerometersand the precise position and velocity of GPSwhich is feasible for attitude stabilization of SOTM with the dynamic estimation error controlled within ±0.5°.
闫林波, 贾维敏, 姚敏立, 沈晓卫. 基于扩展卡尔曼滤波的动中通低成本姿态估计[J]. 电光与控制, 2013, 20(7): 53. YAN Linbo, JIA Weimin, YAO Minli, SHEN Xiaowei. LowCost Attitude Estimation Based on Extended Kalman Filter for SatcomontheMove[J]. Electronics Optics & Control, 2013, 20(7): 53.