摘要
提出了一种用于GPS/陀螺组合姿态确定的Unscented卡尔曼滤波(UKF)方法。采用姿态的修正罗德里格参数(MRPs)表示法,以消除状态误差方差阵的奇异性,建立了GPS/陀螺组合姿态估计系统的模型。仿真结果表明:与基于扩展卡尔曼滤波(EKF)相比,UKF的收敛速度更快、精度更高,且不同滤波器初值对稳态精度的影响较小。
An unscented Kalman filter(UKF) algorithm for attitude determination of integrated global positioning system(GPS)/gyro was put forward in this paper.The modified Rodrigues parameters for attitude was used to eliminate singularity of state error covariance matrix.The attitude estimation model of integrated GPS/gyro was established.The simulation results showed that the convergence of UKF algorithm was faster than that of extended Kalman filter,and so was the higher accuracy of UKF.Meanwhile the influence of ...
出处
《上海航天》
北大核心
2008年第4期1-5,共5页
Aerospace Shanghai
基金
863基金(2006AA704202-1)
关键词
GPS/陀螺组合
姿态确定
UKF
扩展卡尔曼滤波
修正罗德里格参数
蒙特卡罗仿真
Integrated GPS/gyro
Attitude determination
Unscented Kalman filiter
Extended Kalman filter
Modified Rodrigues parameters
Monte Carlo simulation
