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针对快速传递对准过程中的大失准角情况,在建立非线性四元数误差模型的基础上,对利用姿态参数转换的四元数无迹卡尔曼滤波(QUKF)进行研究。通过四元数和修正罗德里格斯参数间的相互转换关系对四元数加权求和公式进行推导,使计算更为直观。针对扰动sigma点中四元数部分的规范性问题,通过先计算sigma点得到其向量部分,再利用单位化约束得到标量部分的方法进行解决,并在此基础上对含有姿态四元数的误差方差阵进行推导并给出相应公式。仿真结果表明,该算法对大失准角的估计准确度和快速性可以满足传递对准的要求。
Aiming at the large misalignment angle during fast transfer alignment, a quaternion unscented Kalman filter (QUKF) based on the transformation of attitude parameters was studied based on the establishment of nonlinear quaternion error model. The quaternion weighted summation formula is deduced by the relationship between the quaternions and the modified Rodrigues parameters to make the calculation more intuitive. In order to solve the problem of the normality of the quaternion part in the disturbed sigma points, the vector part is obtained by first calculating the sigma points and then using the unitized constraint to obtain the scalar part. On the basis of this, Variance matrix to derive and give the corresponding formula. Simulation results show that the proposed algorithm can meet the requirements of pass-through alignment accurately and rapidly.