Attitude estimation method and device for multiplicative error quaternion based geomagnetic tensor field assisted gyroscope

Abstract

The invention belongs to the field of underwater geomagnetic assisted navigation, and particularly relates to an attitude estimation method and device for a multiplicative error quaternion based geomagnetic tensor field assisted gyroscope. A state equation of the attitude estimation device is established by error quaternion, gyroscope scale factor error and gyroscope scope constant bias error, andvector magnetometer groups in strapdown to a carrier are used for measuring five independent components of a geomagnetic tensor field under the carrier system; measurement values of the five independent components are subjected to subtraction with measured values of the independent components of the geomagnetic tensor field under the carrier system, and the independent component difference of thegeomagnetic tensor field is obtained; a Kalman filter is used for estimation and compensation, and estimated values of the attitude quaternion, gyroscope scale factor and constant bias are obtained;attitude of the carrier is determined by the attitude quaternion. The problem of singularity of the state covariance matrix is solved by using multiplicative error quaternion as the attitude estimation variable; the influence of vector direction of the geomagnetic background field on attitude estimator system observation is reduced by using the difference of the independent components of the geomagnetic tensor field as observed quantity.

Description

technical field [0001] The invention belongs to the field of underwater geomagnetic aided navigation, and in particular relates to an attitude estimation method of a multiplicative error quaternion geomagnetic tensor field assisted gyroscope, and the invention also relates to an attitude estimation device for a multiplicative error quaternion geomagnetic tensor field assisted gyroscope . Background technique [0002] The attitude estimator is used to determine the orientation of the fixed coordinate system of the vehicle relative to the reference coordinate system; whether it is a ground vehicle, a marine vehicle or an aircraft, their autonomous navigation and control require some attitude angle information. There are deterministic methods and recursive methods for pose estimation. Deterministic methods include TRIAD algorithm, QUEST algorithm, and FOAM algorithm. They need to measure at least two vectors to determine the attitude of the carrier. For the measurement of more...

AI Technical Summary

Problems solved by technology

However, there are still several problems in the quaternion nonlinear filtering algorithm to achieve attitude determination in the continuous sense: one is that the duality of the quaternion leads to the ambiguity of the quaternion estimation; The mean value no longer meets its normalization requirements; the third is the singularity problem of quaternion covariance calculation

However, when solving optimization problems with nonlinear constraints, the amount of calculation is large

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