Unscented filtering for spacecraft attitude estimation
Unscented filtering for spacecraft attitude estimation
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DOI：
10.2514/2.5102
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发表时间：
2003-07-01
影响因子：
2.6
通讯作者：
Markley, FL
中科院分区：
文献类型：
--
作者：
Crassidis, JL;Markley, FL
提出了一种基于无迹滤波的航天器姿态估计新方法。对于非线性系统，无迹滤波使用一组精心选择的样本点，比标准扩展卡尔曼滤波的线性化更准确地映射概率分布，从而在姿态估计问题中从不准确的初始条件更快地收敛。该滤波公式基于标准的姿态向量测量，使用基于陀螺仪的姿态传播模型。全局姿态参数用四元数表示，而局部姿态误差用广义三维姿态表示来定义。从局部姿态误差出发，推导出乘性四元数误差方法，保证了四元数归一化在滤波器中的保持。仿真结果表明，在真实的初始姿态误差条件下，无迹滤波比扩展卡尔曼滤波具有更好的鲁棒性。
A new spacecraft attitude estimation approach based on the unscented filter is derived. For nonlinear systems the unscented filter uses a carefully selected set of sample points to map the probability distribution more accurately than the linearization of the standard extended Kalman filter, leading to faster convergence from inaccurate initial conditions in attitude estimation problems. The filter formulation is based on standard attitude-vector measurements using a gyro-based model for attitude propagation. The global attitude parameterization is given by a quaternion, whereas a generalized three-dimensional attitude representation is used to define the local attitude error. A multiplicative quaternion-error approach is derived from the local attitude error, which guarantees that quaternion normalization is maintained in the filter. Simulation results indicate that the unscented filter is more robust than the extended Kalman filter under realistic initial attitude-error conditions.