GPS姿态测量中四元数迭代算法的改进

为抑制实际观测中GPS姿态测量系统受环境影响而出现的较强的观测噪声,提出了一种在迭代过程中对噪声进行抑制的方法. 该方法利用改进后的布洛伊登法进行迭代运算,减小了基本算法的计算量. 该算法在强噪声的情况下能较精确地收敛到真值. 仿真结果表明,该方法对噪声的抑制效果较好,所得收敛结果的误差比传统方法小,且减少了时间消耗.

Improvements on Quaternion-Based Iterative Algorithms for Attitude Determination Using GPS

In order to suppress strong measurement noise existing in the GPS attitude determination system in some practical situations, and to eliminate such effects on algorithms, a noise suppression method is suggested in the iterative procedure. To reduce the burden of calculation in this algorithm, the improved Broyden method is adopted. This method makes the estimations converge to the true value accurately even under strong noise. Improvements on reducing calculation burden also gives better results. Simulations showed the convergence errors caused by the noise to be smaller than was under former algorithms and the converging speed higher.