Attitude estimation method for star camera and gyroscope based on generalized Rodrigues parameters

被引：0
|
作者：
Yin X. [1 ]
Chai H. [1 ]
Du Z. [1 ]
Xiang M. [1 ]
Shi M. [1 ]
机构：
[1] Institute of Surveying and Mapping, Information Engineering University, Zhengzhou
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2020年 / 28卷 / 04期
关键词：
Attitude estimation; Generalized Rodrigues parameter; Gyroscope; Star camera; UKF;
D O I：
10.13695/j.cnki.12-1222/o3.2020.04.011
中图分类号：
学科分类号：
摘要：
When the star camera and the gyroscope are used for the attitude estimation, the inaccurate initialization will cause the updated quaternion not meet the requirements of normalization. Aiming at the problem, an improved UKF algorithm based on generalized Rodrigues parameters is proposed, and the error quaternion constructed by the generalized Rodrigues parameters are multiplied and updated to ensure the normalization property of quaternion. At the same time, UKF is used to estimate the state for the nonlinear observation equation of stellar camera to avoid the loss of higher-order information. The proposed algorithm is applied to the attitude estimation of the rotating spacecraft and compared with the traditional EKF method. The results show that when the initial attitude has a large deviation, compared with the traditional quaternion forced normalization method, the proposed method can improve the attitude accuracy by about 0.6 °; when the initial attitude and the gyro zero drift error are superimposed, the attitude error of the proposed method can converge to 0.1 °, whereas EKF oscillates. These results show that the proposed method has better accuracy and robustness. © 2020, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：487 / 492
页数：5
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