基于双欧拉角的UKF组合导航滤波算法

doi:10.12305/j.issn.1001-506X.2021.07.23

Abstract

Abstract:

Aiming at the problem of huge computation load and poor real-time performance caused by the normative constraints of the unscented quaternion estimator (USQUE) in the nonlinear filter for an integrated navigation system, a dual-Euler unscented Kalman filter (DEUKF) based on the dual-Euler attitude representation is proposed. The proposed filter updates attitude in the positive and reverse essence region of the positive and reverse Euler differential equations by switching Euler angle to avoid singularity and ensure filtering accuracy. In the direct integrated navigation of a strapdown inertial navigation system/global positioning system, both the simulation and vehicle test results show that, compared with USQUE algorithm, the computation load of the proposed DEUKF is reduced significantly so that it has good real-time performance while it achieves the equivalent pitch and roll estimation accuracy with USQUE algorithm.

Key words: integrated navigation, attitude estimation, nonlinear filtering, dual-Euler method, quaternion

CLC Number:

U666.11

Renjie ZHAO, Baiqing HU, Xu LYU, Jiayu TIAN. Filtering algorithm of UKF integrated navigation based on dual-Euler angles[J]. Systems Engineering and Electronics, 2021, 43(7): 1912-1920.

Figures/Tables 18

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算法	均方根误差/(′)			时间/s
算法	俯仰角	横滚角	航向角	时间/s
USQUE	0.629	0.672	1.72	394
DEUKF	0.651	0.728	5.83	160

性能指标	陀螺仪	加速度计
动态范围	±150°/s	±10 g
零偏稳定性	≤0.02°/s	≤0.001 g
零偏重复性	≤0.02°/s	≤0.001 g
更新频率	100 Hz	100 Hz

算法	均方根误差/(°)			时间/s
算法	俯仰角	横滚角	航向角	时间/s
USQUE	0.241	0.245	3.334	97
DEUKF	0.221	0.250	3.426	56

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Filtering algorithm of UKF integrated navigation based on dual-Euler angles

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