| 引用本文: | 周卫东,吉宇人,乔相伟.四元数扩维无迹卡尔曼滤波算法及其在大失准角快速传递对准中的应用[J].控制理论与应用,2011,28(11):1583~1588.[点击复制] |
| ZHOU Wei-dong,JI Yu-ren,QIAO Xiang-wei.Quaternion augmented unscented Kalman filter and its application to rapid transfer alignment under large misalignment[J].Control Theory and Technology,2011,28(11):1583~1588.[点击复制] |
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| 四元数扩维无迹卡尔曼滤波算法及其在大失准角快速传递对准中的应用 |
| Quaternion augmented unscented Kalman filter and its application to rapid transfer alignment under large misalignment |
| 摘要点击 2398 全文点击 2688 投稿时间：2010-06-24 修订日期：2010-12-31 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.11.CCTA100732 |
| 2011,28(11):1583-1588 |
| 中文关键词 快速传递对准 乘性四元数 无迹卡尔曼滤波 规范性 |
| 英文关键词 rapid transfer alignment multiplicative quaternion unscented Kalman filter normalization |
| 基金项目 国家自然科学基金资助项目(60834005). |
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| 中文摘要 |
| 针对快速传递对准中量测失准角为大角度的情况, 在非线性欧拉角误差模型基础上, 推导了一种基于乘性四元数的等效快速传递对准模型. 为解决四元数在无迹卡尔曼滤波(UKF)算法中的应用问题, 提出了一种基于四元数的状态扩维无迹卡尔曼滤波(Q--AUKF)算法. 该算法将系统噪声增广到状态向量中, 解决了乘性四元数噪声无法进行向量意义下四则运算的问题. 针对四元数加权均值规范化的限制, 采用平均四元数算法保证其正交规范化要求. 最后将其应用到快速传递对准中的仿真实验结果表明, 在量测误差角为大角度的情况下, 该算法具有更高的估计精度与收敛速度. |
| 英文摘要 |
| An equivalent rapid transfer alignment model based on the multiplicative quaternion is derived for large misalignment measurements on the basis of nonlinear Euler angle error model. In order to apply quaternion to the unscented Kalman filter(UKF), a quaternion augmented UKF(Q-AUKF) algorithm is proposed. The arithmetic problem of multiplicative quaternion noise is solved by augmenting the system noise onto the state vector. An average quaternion method is adopted to guarantee the normalization of weighted quaternion. The Q-AUKF algorithm is applied to the rapid transfer alignment model and the simulation results show that the proposed algorithm has higher filter accuracy and faster convergence speed. |