A New Attitude Estimation Algorithm Using GPS Observations
A novel extended Kalman Filter algorithm is presented for attitude estimation using Global Positioning System (GPS) differential carrier phase measurements. The novelties are that Firstly, employing tracking theory concepts, the angular acceleration is modeled as an exponentially stochastic process, so that the uncertain vehicle dynamic model is avoided being utilized, and then the state equation can be described easily. Secondly, in order to linearizing the measurement equation, an approximation resolution of the attitude matrix differential equation obtained by Peano-Baker approximation is used. A numerical example is used to demonstrate the performance of the method, and the results show this algorithm is efficient.
Huang Jixun Fan Yuezu
Beijing University of Aeronautics and Astronautics, Beijing, China, 100083
国际会议
北京
英文
92-96
2007-11-04（万方平台首次上网日期，不代表论文的发表时间）