观测信息存在时滞情况下的姿态估计器设计

Design of Attitude Estimator in the Presence of Time Delay of Observation Information

针对传感器输出存在采样与延迟的情况,提出了一种新的姿态估计算法,该算法的核心在于设计一种观测预测器,并将其与姿态估计器级联。观测预测器用于补偿观测向量的延迟与采样的影响,得到关于观测向量连续无延迟的预测值。这些预测值输入姿态估计器,得到当前姿态。预测器的设计基于刚体运动学和传感器采样延迟模型。仿真实例表明,使用观测预测器,可以有效地减小延迟与采样对姿态估计值的精度与稳定性造成的不良影响。

Aiming at discrete-time samples and time delays in sensor,this paper proposed a new attitude estimation algorithm,the core of which was to design an observation predictor,which is cascaded with the attitude estimator.The observation predictor was used to compensate for the influence of the delay and sampling of the observation vector,and obtain the predictive value of the continuous vector without time delay.The current attitude was obtained with the vectors put into the attitude estimator.The design of observation predictor was based on rigid-body kinematics and sensor sampling delay models.The simulation examples showed that the bad influence of time delays and sampling on the precision and stability of the attitude estimation was greatly reduced by using observation predictor.