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.PDF

28 11 Vol. 28 No. 11 2011 11 Control Theory Applications Nov. 2011 :2011 , , ( , 150001) : , , . (UKF), -- (Q AUKF). , . , . , , . : ; ; ; : U666.1 : A Quaternion augmented unscented Kalman filter and its application to rapid transfer alignment under large misalignment ZHOU Wei-dong, JI Yu-ren, QIAO Xiang-wei (College of Automation, Harbin Engineering University, Harbin Heilongjiang 150001, China) Abstract: 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 un- scented 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. Key words: rapid transfer alignment; multiplicative quaternion; unscented Kalman filter; normalization 1 (Introduction) . . . , ( . Lefferts ). (EKF) . , , , . , KainCloutier EKF(multiplicative EKF) . , , , VathsalPsiaki . EKF . EKF