Spacecraft attitude estimation method based on norm-constrained cubature Kalman filter
A Kalman filter and attitude estimation technology, applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve the problem of low accuracy
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[0079] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0080] An aircraft attitude estimation method based on norm-constrained volumetric Kalman filter, the calculation flow chart is as follows figure 1 As shown, the number-constrained volumetric Kalman filter algorithm flow chart is as follows figure 2 As shown, it includes the following four steps:
[0081] Step 1: Establish the state equation of the aircraft navigation system
[0082] In the target coordinate system, using the acceleration and angular velocity of the aircraft provided by the inertial measurement unit, the dynamic model of the aircraft is established, that is, the state equation is:
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[0086] Among them, r=[r x ,r y ,r z ] T and v=[v x ,v y ,v z ] T are the position and velocity of the aircraft respectively, X, Y, Z are the coordinate axes of the target system; q=[q 0 q 1 q 2 q 3 ] T...
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