引用本文:张德先,聂桂根.基于分解四元数的自适应姿态四元数卡尔曼滤波[J].控制理论与应用,2018,35(3):367~374.[点击复制]
ZHANG De-xian,NIE Gui-gen.Adaptive attitude quaternion Kalman filter based on factored quaternions[J].Control Theory and Technology,2018,35(3):367~374.[点击复制]
基于分解四元数的自适应姿态四元数卡尔曼滤波
Adaptive attitude quaternion Kalman filter based on factored quaternions
摘要点击 2311  全文点击 804  投稿时间：2017-01-13  修订日期：2017-09-16
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DOI编号  10.7641/CTA.2017.70028
  2018,35(3):367-374
中文关键词  卡尔曼滤波  四元数  自适应算法  姿态估计  惯性传感器  磁强计
英文关键词  Kalman filters  quaternion  adaptive algorithms  attitude estimation  inertial sensors  magnetometer
基金项目  国家重点基础研究发展计划项目(2013CB733205), 武汉市科学技术局: 应用基础研究计划项目(2015011701011639)资助
作者单位E-mail
张德先 武汉大学GPS卫星定位导航技术研究中心 dxzhang@whu.edu.cn 
聂桂根* 武汉大学GPS卫星定位导航技术研究中心 ggnie@whu.edu.cn 
中文摘要
      基于Clifford代数的四元数卡尔曼滤波在融合陀螺/加表/磁强计以估计姿态时, 由于四元数各参数与欧拉角 不是一一对应关系, 无法独立估计各个欧拉角. 这样即使重力观测量是可信的, 受到干扰的磁场观测量也会影响整 个估计结果. 为了消除磁场观测量对四元数中横滚角和俯仰角分量的影响, 对四元数进行分解, 以重新组合重力/磁 场观测量. 同时, 为了减少载体附近磁场和线性加速度干扰对姿态估计的影响, 构造了观测噪声自适应算法和观测 量自适应干扰补偿. 消费级微机电系统(micro-electro-mechanical system, MEMS)传感器的实验结果表明, 对比四元 数卡尔曼滤波的原型, 改进后的抗干扰能力明显提升. 但由于自适应过程引入了两个经验参数, 这使得其工作范围 和抗干扰能力有待考验.
英文摘要
      The quaternion Kalman filter based on Clifford algebra cannot estimate each Euler angle separately while fusing gyro/ accelerator/ magnetometer observations because the parameters of quaternions are not one-to-one corresponding to the parameters of Euler angles. That makes the whole estimation results affected by disturbed magnetic field observations, even though the accelerator observations are reliable. In order to eliminate the affection to roll and pitch angle components in quaternions caused by magnetic field observations, this paper recombined the observations of gravity and magnetic field with factored quaternions. Beside, in order to reduce the impact of magnetic and linear acceleration interference to attitude estimation, this paper constructed adaptive noise covariance of observations and adaptive interference compensations of observations. Compared to the original quaternion Kalman filter, experiments based on consumptionlevel micro-electro-mechanical system (MEMS) sensors showed that the anti-interference ability of the modified one has been improved markedly. However, two empirical parameters were introduced into the adaptive procedure. Therefore, its working range remains to test.