机动加速度辅助的航姿系统扩展卡尔曼滤波

Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (3): 625-628,637.

机动加速度辅助的航姿系统扩展卡尔曼滤波

郭鹏飞¹, 任章¹, 邱海韬², 杨云春³

1. 北京航空航天大学自动化科学与电气工程学院, 北京, 100083;
2. 中国航天科工信息技术研究院, 北京, 100037;
3. 北京耐威时代科技有限公司, 北京, 100029

收稿日期:2008-01-04 修回日期:2008-06-02 出版日期:2009-03-20 发布日期:2010-01-03
作者简介:郭鹏飞(1979- ),男,博士研究生,主要研究方向为组合导航,精确制导.E-mail:guopengfei2000@sohu.com
基金资助:
航空科学基金资助课题(20070851011)

Maneuvering acceleration assisted extended Kalman filter for attitude and heading reference system

GUO Peng-fei¹, REN Zhang¹, QIU Hai-tao², YANG Yun-chun³

1. School of Automation Science and Electrical Engineering, Beijing Univ. of Aeronautics &Astronautics, Beijing 100083, China;
2. Academy of Information Technology, China Aerospace Science & Industry, Beijing 100037, China;
3. NAV Technology Co., Ltd, Beijing 100029, China

Received:2008-01-04 Revised:2008-06-02 Online:2009-03-20 Published:2010-01-03

摘要/Abstract

摘要： 低精度航姿系统一般采用基于重力场和地磁场矢量观测的6态扩展卡尔曼滤波,载体长时间机动时,模型存在较大误差,无法保持稳定的姿态精度。将载体机动加速度描述为当前统计模型,提出了一种机动加速度辅助的9态扩展卡尔曼滤波,其状态变量包括三个姿态角误差、三轴陀螺零偏误差和三轴载体加速度误差,观测量为三轴加速度误差和三轴地磁场误差。实验表明,将航姿系统固定在转台上产生0.6 g的向心加速度时,9态扩展卡尔曼滤波在对机动加速度进行稳定估计的同时,姿态精度保持在1度以内。

Abstract: The low cost AHRS(attitude and heading reference system) commonly adopt 6-state EKF(extended Kalman filter) based on the gravity field and the magnetic field vector observations.When the carrier maneuvered with a long time,the model presented big errors and 6-state EKF could not get stable attitude accuracy.The maneuvering acceleration is described with current statistical model.A 9-state EKF is introduced with 9 states of three attitude errors,three-axis gyroscopes bias errors and three-axis maneuvering acceleration errors.The observations includ three-axis acceleration errors and three-axis magnetic filed errors of the earth.When AHRS rotates with acceleration centripetal of 0.6 g on the rotation table,the experimental results show that 9-state EKF could get stable estimation of three-axis maneuvering accelerations and the attitude accuracy is better than 1 degree.

中图分类号:

V241.6

郭鹏飞, 任章, 邱海韬, 杨云春. 机动加速度辅助的航姿系统扩展卡尔曼滤波[J]. Journal of Systems Engineering and Electronics, 2009, 31(3): 625-628,637.

GUO Peng-fei, REN Zhang, QIU Hai-tao, YANG Yun-chun. Maneuvering acceleration assisted extended Kalman filter for attitude and heading reference system[J]. Journal of Systems Engineering and Electronics, 2009, 31(3): 625-628,637.