| 传递对准MRP-CDKF算法 |
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| 引用本文： | 丁国强,崔光照,周卫东,郝燕玲. 传递对准MRP-CDKF算法[J]. 华中科技大学学报(自然科学版), 2011, 0(1): 127-132 |
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| 作者姓名： | 丁国强 崔光照 周卫东 郝燕玲 |
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| 作者单位： | 郑州轻工业学院电气信息工程学院;哈尔滨工程大学自动化学院; |
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| 基金项目： | 国家自然科学基金资助项目(60674087) |
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| 摘 要： | 基于主、子惯导系统传递对准受控角运动和修正Rodrigues参数(MRP)的三参数描述姿态运动最小实现特点,建立了主、子惯导系统传递对准MRP非线性误差模型.根据四元数加权均值计算方法以及MRP与四元数关系,实现MRP的间接加权均值计算;根据MRP乘法定义实现MRP预测误差方差矩阵求解,进而建立修正Rodrigues参数-中心差分卡尔曼滤波(MRP-CDKF)算法.利用该算法对MRP非线性传递对准误差模型进行研究,结果表明:该算法的姿态失准角估计误差都能在10s之内收敛到0′附近;考虑杆臂向量与不考虑杆臂向量时的系统速度误差在±0.1m/s内.
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| 关 键 词： | 主惯导系统 子惯导系统 修正Rodrigues参数 传递对准 中心差分逼近原理 中心差分卡尔曼滤波算法 |
Transfer alignment MRP-CDKF algorithm |
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| Ding Guoqiang Cui Guangzhao Zhou Weidong Hao Yanling. Transfer alignment MRP-CDKF algorithm[J]. JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE, 2011, 0(1): 127-132 |
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| Authors: | Ding Guoqiang Cui Guangzhao Zhou Weidong Hao Yanling |
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| Affiliation: | Ding Guoqiang1 Cui Guangzhao1 Zhou Weidong2 Hao Yanling2(1 College of Electrical and Information Engineering,Zhengzhou University of Light Industry,Zhengzhou 450002,China,2 College of Automation,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | Based on the characteristics of the controlled angular movement for transfer alignment procedure between master and sub-intertial navigation system,and the minimal realization of modified Rodrigues parameters(MRP) representation for attitude movement,the nonlinear error model algorithm with MRP of transfer alignment was developed.According to the quaternion weighted mean calculation method and the relationship between quaternion and MRP,the method that calculates the weighted mean values of MRP indirectly.W... |
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| Keywords: | master intertial navigation system sub-intertial navigation system modified Rodrigues parameters(MRP) transfer alignment central divided difference approach central divided difference Kalman filtering(CDKF) algorithm |
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