| 引用本文: | 高显忠,侯中喜,王波,张俊韬.四元数卡尔曼滤波组合导航算法性能分析[J].控制理论与应用,2013,30(2):171~177.[点击复制] |
| GAO Xian-zhong,HOU Zhong-xi,WANG Bo,ZHANG Jun-tao.Quaternion-based Kalman filter and its performance analysis in integrated navigation[J].Control Theory and Technology,2013,30(2):171~177.[点击复制] |
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| 四元数卡尔曼滤波组合导航算法性能分析 |
| Quaternion-based Kalman filter and its performance analysis in integrated navigation |
| 摘要点击 5386 全文点击 4496 投稿时间：2012-05-23 修订日期：2012-09-28 |
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| DOI编号 10.7641/CTA.2013.20565 |
| 2013,30(2):171-177 |
| 中文关键词 卡尔曼滤波 四元数 姿态估计 组合导航 |
| 英文关键词 Kalman filter quaternion attitude estimation integrated navigation |
| 基金项目 国家自然科学基金资助项目(90916016). |
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| 中文摘要 |
| 为分析四元数卡尔曼滤波组合导航算法在飞行器姿态估计中的性能, 在建立四元数卡尔曼滤波观测方程、状态方程和方差计算模型的基础上, 分别设计了陀螺/加速度计/磁强计组合导航仿真算例和陀螺/加速度计初始对准实验, 比较了四元数卡尔曼滤波组合导航算法相较于传统扩展卡尔曼滤波组合导航算法在计算量、收敛性、收敛速度、收敛精度方面的性能. 分析结果表明该滤波器无须扩展卡尔曼滤波器的线性化过程, 计算量小, 算法实现简单; 收敛性和收敛速度均优于扩展卡尔曼滤波器. 收敛精度较扩展卡尔曼滤波器高出约两个数量级, 但收敛过程中存在一个比扩展卡尔曼滤波器精度低的时间区间. |
| 英文摘要 |
| In order to take a systematic analysis for quaternion Kalman filter (QKF) performance in integrated navigation system for estimating attitude of aircraft, measurement equation, process equation and covariance computation model of QKF are established. A simulation sample about gyro/accelerator/magnetometer integrated navigation system and an experiment about gyro/accelerator initial alignment are developed. Performance of computation load, convergence, convergent rate and estimation precision are compared between QKF and extended Kalman filter (EKF). The results indicate that QKF is easier to be implemented and achieve convergence than EKF, QKF estimation precision is higher than that of EKF about two orders of magnitude; but there is a time interval in which QKF estimation precision is lower than that of EKF. |
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