Research on Attitude Updating Algorithm Based on Modified Rodrigues Parameters for Low cost Attitude and Heading Reference System

摘要：

An all-attitude estimation algorithm for low cost attitude and heading reference system using extended Kalman filter based on modified Rodrigues parameters is designed. Aiming at the shortage of redundancy when using quaternion to describe attitude, modified Rodrigues parameters which are a three-dimensional independent vector are proposed for attitude representation. By switching between the modified Rodrigues parameters and their shadow parameters, the problem of singularity is solved. Considering the characteristics of the sensors of the system the estimation algorithm is established with gyroscope bias and modified Rodrigues parameters as state vector and the outputs of accelerometer and magnetometer as observation vectors, which is avoid the state error covariance matrix coming into being singularity. At last an all-attitude numerical simulation and an swing movement numerical simulation are used to demonstrate the efficacy of the algorithm.

关键词： Low cost Attitude and Heading Reference System Modified Rodrigues Parameters extended Kalman filter

作者: Peng Wu Yuansheng Ge Haijing Yuan

作者单位: Automation College Harbin Engineering UniversityHarbin,150001,China Automation College Harbin Engineering University Harbin,150001,China

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: 1-5

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）