Robustness recursion filtering method for aircraft attitude estimation under the condition of measurement interference

Abstract

The invention belongs to the technical field of aircraft attitude estimation by use of a robustness filtering technology, and relates to a robustness recursion filtering method for aircraft attitude estimation under the condition of measurement interference. The method comprises: acquiring the output data of a gyro and a star sensor during the motion process of an aircraft; establishing an aircraft non-linear state space model based on attitude quaternion under the condition of measurement interference; updating time, and solving a step state prediction value and an upper bound of a prediction variance; performing robustness recursion filtering measurement updating, solving an optimum filtering gain, accordingly solving a state estimation value and the upper bound of the variance at k+1 time, and performing forced normalization constraining on a quaternion portion in state estimation at the k+1 time; and outputting the attitude quaternion and a gyro drifting result, and finishing attitude estimation. According to the invention, a robustness filtering design based on a minimum variance is employed, such that an optimum filtering gain design under the condition of minimum variance significance can be realized, and the attitude estimation precision of a system can be improved.

Description

technical field [0001] The invention belongs to the technical field of aircraft attitude estimation using robust filtering technology, and relates to a robust recursive filtering method for aircraft attitude estimation under measurement interference. Background technique [0002] The attitude estimation system combined with gyroscope and star sensor is widely used in aircraft due to its high accuracy of attitude determination. Euler angles, modified Rodrigues parameters, direction cosines, quaternions, etc. are the main attitude description parameters of the aircraft. Quaternions are often used as attitude description parameters in attitude estimation systems because of their simple calculations, no trigonometric operations, and the ability to avoid the singularity of Euler angles. For the quaternion pose estimation model of the system, many pose estimation methods based on Extended Kalman Filter (EKF) have been proposed, such as Additive Extended Kalman Filter (AEKF) and m...

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Problems solved by technology

[0003] For the attitude estimation system, there is multiplicative noise coupled between the state and Gaussian white noise in the system state equation. The variance of the noise is unknown, so it is regarded as a state model uncertainty, a robust extended Kalman filter Kalman Filter, REKF) was proposed, but did not consider the existence of other model uncertainties in the attitude estimation system

In addition to multiplicative noise, unknown measurement disturbances will inevitably appear in the attitude estimation system due to the jitter or vibration of the aircraft during operation, resulting in measurement errors

Although this measurement error will reduce the performance of the attitude estimation system and lead to inaccurate attitude information, few studies have focused on this situation with unknown measurement interference in the attitude estimation filtering algorithm.

Some studies have pointed out that this unknown measurement interference can be regarded as Gaussian noise with a fixed mean and variance. However, in practical applications, the prior information of this unknown measurement interference is often unknown, and only its range of values, it should therefore be viewed as a ranged measurement model with uncertain

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