| 摘要: |
| 针对低成本动中通系统中的姿态估计问题，提出一种开关扩展卡尔曼滤波算法。以
无航向角的姿态更新算法为基础，根据微机械陀螺和加速度计分别建立系统状态方程和测量
方程。针对机动加速度的影响，设计了三维开关扩展卡尔曼滤波方程，对载体姿态角和陀螺
零偏进行实时估计。实验结果表明，该算法能够准确估计载体姿态和陀螺零偏，姿态角估计
误差小于0.5°，俯仰角和横滚角估计误差的方差分别为0.130 1°和0.140 5°，
两轴陀螺零偏误差均值均小于(2×10-4) °/s，能够满足动中通的应用要求。 |
| 关键词: 动中通 姿态估计 卡尔曼滤波 |
| DOI： |
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| 基金项目: |
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| Attitude estimation based on switched extended Kalman filter |
| YAO Ruo-chen |
| () |
| Abstract: |
| An attitude estimation method using Switched Extended Kalman Filter(SEKF) is
proposed for low cost SatCom on-the-move(SOTM). Based on no-heading attitude up
dating
algorithm, the state function and the measure function are estibalished
respectively by gyros and accelerometers.For the effect of movement acceler
ation, thr
ee dimensions SEKF equation is designed for estimation of
attitude and gyros′ bias. The results of experiment indicate that the method ca
n precisely estimate attitude and gyros′ bias, which satisfies the demand of SO
TM. Estimated error of attitude is less than 05°, and variance
of pitch and roll is 0.1301°and 0.1405°，respectively. The estimated mean
error of gyros′ bias is less than (2×10e-4) °/s. |
| Key words: satCom on-the-move(SOTM) attitude estimation Kalman filter |
