Attitude Estimation Method and Device for Gyroscope Assisted by Multiplicative Error Quaternion Geomagnetic Tensor Field

Abstract

The invention belongs to the field of underwater geomagnetic aided navigation, and in particular relates to a method and device for estimating the attitude of a multiplicative error quaternion geomagnetic tensor field assisted gyroscope. The state equation of the attitude estimation device is established with the error quaternion, the gyro scale factor error and the gyro constant value bias error, and the vector magnetometer group is strapped to the carrier to measure the five independent components of the geomagnetic tensor field under the carrier; The measured value of the independent component of the geomagnetic tensor field under the carrier system is differenced to obtain the difference value of the independent component of the geomagnetic tensor field. The Kalman filter is used for estimation and compensation to obtain the estimated values ​​of the attitude quaternion, gyroscope scale factor and constant bias; the attitude of the vehicle is determined by the attitude quaternion. The multiplicative error quaternion is used as the attitude estimation variable, which overcomes the singularity problem of the state covariance matrix; the difference of the independent components of the geomagnetic tensor field is used as the observation quantity, and the influence of the geomagnetic background field vector direction on the attitude estimator system observation is reduced .

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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