姿态测量系统稳定性优化算法研究

发布时间：2018-03-02 13:51

  本文选题：姿态估计　切入点：加速度补偿　出处：《电子技术应用》2017年04期 　论文类型：期刊论文

【摘要】：设计了一种基于模糊规则调整的串级线性卡尔曼(LKF)姿态解算方法,用旋转矩阵部分元素建立状态方程首先以机动加速度补偿的加速度为观测量,并采用模糊规则调整不同运动状态下的协方差阵,减小加速度的干扰,得到水平姿态角;然后采用磁强信息和姿态信息获取间接观测量,得到偏航角。动静态测试表明,该方法消除了累计误差和磁干扰对水平倾角的耦合干扰,与扩展卡尔曼滤波(EKF)相比,提高了在运动加速度干扰和磁场干扰下的姿态估计精度,并且降低了计算量。
[Abstract]:A cascade linear Kalman LKF attitude solution method based on fuzzy rule adjustment is designed. The state equation is established by using some elements of the rotation matrix. Firstly, the acceleration compensated by the maneuvering acceleration is taken as the observation quantity. The covariance matrix in different motion states is adjusted by fuzzy rules to reduce the disturbance of acceleration and the horizontal attitude angle is obtained, then the indirect observation is obtained by using magnetic intensity information and attitude information, and the yaw angle is obtained. Compared with the extended Kalman filter (EKF), this method can improve the precision of attitude estimation under the disturbance of moving acceleration and magnetic field, and reduce the computational complexity. The proposed method eliminates the coupling interference of accumulated error and magnetic disturbance to horizontal inclination angle, and improves the precision of attitude estimation under the disturbance of moving acceleration and magnetic field, compared with the extended Kalman filter (EKF).
【作者单位】： 华东理工大学信息科学与工程学院;
【分类号】：TP212;TN713
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本文编号：1556801