四元数扩维无迹卡尔曼滤波算法及其在大失准角快速传递对准中的应用

Quaternion augmented unscented Kalman filter and its application to rapid transfer alignment under large misalignment

中文关键词  快速传递对准  乘性四元数  无迹卡尔曼滤波  规范性

英文关键词  rapid transfer alignment  multiplicative quaternion  unscented Kalman filter  normalization

中文摘要

      针对快速传递对准中量测失准角为大角度的情况, 在非线性欧拉角误差模型基础上, 推导了一种基于乘性四元数的等效快速传递对准模型. 为解决四元数在无迹卡尔曼滤波(UKF)算法中的应用问题, 提出了一种基于四元数的状态扩维无迹卡尔曼滤波(Q--AUKF)算法. 该算法将系统噪声增广到状态向量中, 解决了乘性四元数噪声无法进行向量意义下四则运算的问题. 针对四元数加权均值规范化的限制, 采用平均四元数算法保证其正交规范化要求. 最后将其应用到快速传递对准中的仿真实验结果表明, 在量测误差角为大角度的情况下, 该算法具有更高的估计精度与收敛速度.

英文摘要

      An equivalent rapid transfer alignment model based on the multiplicative quaternion is derived for large misalignment measurements on the basis of nonlinear Euler angle error model. In order to apply quaternion to the unscented Kalman filter(UKF), a quaternion augmented UKF(Q-AUKF) algorithm is proposed. The arithmetic problem of multiplicative quaternion noise is solved by augmenting the system noise onto the state vector. An average quaternion method is adopted to guarantee the normalization of weighted quaternion. The Q-AUKF algorithm is applied to the rapid transfer alignment model and the simulation results show that the proposed algorithm has higher filter accuracy and faster convergence speed.