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Quaternion Kalman filtering attitude estimation method based on geomagnetic gradient tensor

A Kalman filter, gradient tensor technology, applied in the direction of navigation, measurement devices, ground navigation, etc. through velocity/acceleration measurement

Active Publication Date: 2015-04-29
HARBIN ENG UNIV
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Problems solved by technology

[0004] A new attitude measurement optimization recursive estimation algorithm based on magnetic field gradient tensor measurement proposed by the present invention has a new idea and has not been reported in the literature

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  • Quaternion Kalman filtering attitude estimation method based on geomagnetic gradient tensor
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  • Quaternion Kalman filtering attitude estimation method based on geomagnetic gradient tensor

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Embodiment Construction

[0073] The present invention will be further described below in conjunction with accompanying drawing:

[0074] figure 1 A specific flow chart of the present invention is given. The specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing:

[0075] Assuming that both process noise and observation noise are additive, the discrete nonlinear system in state space form is

[0076] x k =f(x k-1 )+w k-1 (1)

[0077] the y k =h(x k )+v k (2)

[0078] where x k ∈ R n and y k ∈ R m are state vector and measurement vector respectively; f( ) and h( ) are system nonlinear state equation and measurement equation; process noise w k and measurement noise v k is uncorrelated Gaussian white noise, and the mean and covariance matrix are:

[0079] E [ w k ] ...

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Abstract

The invention belongs to the field of underwater geomagnetic assisted navigation and particularly relates to a quaternion Kalman filtering attitude estimation method based on a geomagnetic gradient tensor. The method disclosed by the invention comprises the following steps: setting an initial parameter value; acquiring output data of a spinning top and a magnetometer during motion of a carrier as quantity measurement; measuring the geomagnetic gradient tensor under a geographical system; measuring the geomagnetic gradient tensor under a carrier system; renewing the state; estimating the state at moment k; estimating the state of the moment k. The invention discloses the Cubature Kalman filtering attitude estimation method based on the geomagnetic gradient tensor, wherein the estimation precision of the method on the attitude angle is higher by a plurality of times than that of the traditional Cubature Kalman filtering algorithm, and the method for acquiring the quantity measurement value yk by using a three-shaft fluxgate magnetometer has a latent advantage of low cost.

Description

technical field [0001] The invention belongs to the field of underwater geomagnetic aided navigation, and in particular relates to a quaternion Kalman filter attitude estimation method based on geomagnetic gradient tensor. Background technique [0002] Attitude measurement is an important problem in many fields such as modern navigation, guidance and control. At present, the methods of carrier attitude determination can be mainly divided into two categories, vector determination method and state estimation method. The vector determination method is to use the geometric relationship to calculate directly. When the two vectors in the reference coordinate system are known accurately, the vector matching method is used to obtain the optimal solution for a single observation. However, a small horizontal reference error will bring a large heading error, and the system dynamic information and historical observation information cannot be used, and the accuracy of attitude estimatio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01C21/16G01C21/20
CPCG01C21/08G01C21/165G01C21/18G01C21/20
Inventor 黄玉武立华李德全
Owner HARBIN ENG UNIV
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