Quaternion Central Divided Difference Kalman Filtering Algorithm and Its applications to Initial Alignment of SINS

摘要：

Considering the characteristic and computation superiority of quaternion representing body attitude movement information, and aiming at the initial alignment procedure of strap-down inertial navigation system (SINS) with large initial misalignment angles, this paper develops its multiplicative quaternion error model. With the faults analysis of traditional quaternion mean calculation methods, it developed its new calculation method in which the attitude matrix cost function was constructed to calculate its maximum eigenvalues, and it selected the eigenvector which correspond to the maximum eigenvalue as the predicted quaternion mean to guarantee its unit normalization and the sign invariability when the sign of calculating quaternion changed. The multiplicative quaternion error representing the distance between quaternion Sigma-points and the predicted mean quaternion calculated the quaternion prediction error variance matrix, and which can effectively overcome the application limits for SPKF algorithms in quaternion filtering implementation. Combined with the central divided difference filtering (CDKF) algorithm which belongs to SPKF algorithms, it proposed a new quaternion CDKF algorithm (QCDKF) for quaternion filtering problems. With large initial misalignment angles and based on QCDKF algorithm the SINS simulation experiments was being performed. The simulations results show that, compared with EKF algorithm, the proposed algorithm can significantly improve the filtering precision of both attitude misalignment angles estimation errors and velocity estimation errors and the numerical calculation stabilization the filtering algorithm.

关键词： SINS initial alignment Quaternion central divided difference filtering multiplicative quaternion error

作者: Weidong Zhou Guoqiang Ding Yanling Hao Guangzhao Cui

作者单位: College of automation Harbin Engineering University Heilongjiang Harbin 150001,China College of automation Harbin Engineering University Heilongjiang Harbin 150001,China College of Elec College of automationHarbin Engineering University Heilongjiang Harbin 150001,China College of Electrical & Information Engineering Zhengzhou University of Light Industry Henan Zhengzh

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）