基于测姿GPS及电子罗盘组合的姿态估计算法

针对低成本姿态测量应用需求,研究了由测姿GPS与电子罗盘组合的姿态估计算法。以捷联姿态误差模型为基础,利用等效倾角误差表示姿态误差,引入角速率误差作为状态参量,通过四元数微分方程推导等效倾角误差传递模型。从GPS双差载波相位测量方程和电子罗盘地磁矢量方程出发,从观测量的物理意义出发推导了等效倾角误差为状态参量的非线性观测方程。采用扩展卡尔曼滤波对姿态参数进行状态估计。车载实验表明该算法能够有效地提高姿态测量精度和系统的鲁棒性,具有较好的实用性。

Attitude Determination Algorithm Based on Combination of Attitude-GPS and Electronic Compass

The attitude determination algorithm based on the combination of Multi-Antenna GPS and Electronic Compass is studied for a need of low-cost attitude measurement application.In the algorithm equivalent tilt angle error denotes attitude error and its propagation equations are deduced with a quaternion differential equation.Also,starting from the physical significances of observed quantities,a non-linear observation equation,in which the equivalent tilt angle error as a state parameter is estimated with extend Kalman Filter,is deduced,based on double differential carrier phase measurement equation and electronic compass geomagnetism vector equation.Vehicle experiments indicate that the algorithm can effectively improve attitude determination precision and robustness of system.