基于扩展卡尔曼滤波器的抑制磁矢量干扰的改进姿态估计算法

IF 3.4 3区 工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY
Yikai Zong, Shujing Su, Yuhong Gao, Lili Zhang
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引用次数: 0

摘要

本文提出了一种基于扩展卡尔曼滤波器(EKF)的改进姿态估计算法,并将其应用于抑制大角度运动下融合磁强计数据导致的姿态估计精度降低。在所提出的姿态估计结构中,由于在大角度运动时近似方差会显著增大,而融合磁强计数据会降低估计精度,因此利用估计的水平向北磁矢量的近似方差来动态调整磁强计数据在姿态估计中的参与度。为了验证所提出的姿态估计算法,使用了一个三轴位置-速度控制转盘进行摇摆实验。结果表明,所提出的姿态估计算法显著提高了偏航角估计精度,并相应改善了俯仰角和滚转角误差的分布。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
An improved attitude estimation algorithm for suppressing magnetic vector disturbance based on extended Kalman filter
This paper proposes an improved attitude estimation algorithm based on the extended Kalman filter (EKF), and it is applied to suppress the accuracy reduction in attitude estimation caused by fusing magnetometer data under large angular motion. In the proposed attitude estimation structure, the approximate variance of the estimated horizontal northbound magnetic vector is used to dynamically adjust the participation of magnetometer data in attitude estimation, as the approximate variance increases significantly under large angular motion and fusing magnetometer data will reduce estimation accuracy. A three-axis position-velocity controlled turntable is used to conduct rocking experiments for validating the proposed attitude estimation algorithm. The results show a significant improvement in yaw angle estimation accuracy with the proposed attitude estimation algorithm and correspondingly enhance the distribution of pitch and roll angle errors.
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来源期刊
Measurement Science and Technology
Measurement Science and Technology 工程技术-工程:综合
CiteScore
4.30
自引率
16.70%
发文量
656
审稿时长
4.9 months
期刊介绍: Measurement Science and Technology publishes articles on new measurement techniques and associated instrumentation. Papers that describe experiments must represent an advance in measurement science or measurement technique rather than the application of established experimental technique. Bearing in mind the multidisciplinary nature of the journal, authors must provide an introduction to their work that makes clear the novelty, significance, broader relevance of their work in a measurement context and relevance to the readership of Measurement Science and Technology. All submitted articles should contain consideration of the uncertainty, precision and/or accuracy of the measurements presented. Subject coverage includes the theory, practice and application of measurement in physics, chemistry, engineering and the environmental and life sciences from inception to commercial exploitation. Publications in the journal should emphasize the novelty of reported methods, characterize them and demonstrate their performance using examples or applications.
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