基于STLS的姿态信息空间配准方法

Attitude Space Registration Method Based on STLS

针对无人车多源融合导航过程中数据预处理阶段的姿态信息配准问题,提出基于STLS的多源空间配准方法:建立基于姿态信息的相对姿态误差模型,利用STLS方法对误差模型迭代求解;通过STLS方法估计相对姿态参数,使用方向余弦阵作为中间变量对所估计出的相对姿态误差进行补偿。仿真实验结果表明,STLS方法估计相对姿态误差性能优于LS、TLS方法。半实物仿真结果表明,提出的基于STLS的空间配准方法降低姿态角的误差约60%,有利于提高后续多源融合导航精度。

An STLS-based multi-source space registration method is presented to address the issue of attitude registration in the data pre-processing phase of unmanned vehicle multi-source fusion navigation:based on attitude data,a relative attitude error model is created,and STLS method is used to iteratively solve the error model;by utilizing the STLS method to estimate the relative attitude parameters,the direction cosine matrix is employed as an intermediary variable to compensate for the estimated relative attitude errors.The simulation results indicate that STLS outperforms LS and TLS approaches in terms of relative attitude error parameter estimation.The semi-physical simulation results demonstrate that the employment of STLS-based space registration method reduces attitude angle error by around 60%,which is conducive to improving the navigation precision of the subsequent multi-source fusion navigation progress.