欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
采用方向余弦矩阵描述姿态,构建了GPS/陀螺组合姿态确定系统模型;提出了一种矩阵卡尔曼滤波算法.以方向余弦矩阵表示的系统方程有以下特点：观测方程为线性方程,避免了线性化误差;姿态参数存在冗余问题.为此,给出了一种基于拉格朗日乘子的正交化方法,对滤波算法得到的方向余弦矩阵的浮点解进行固定.仿真结果验证了方法的可行性和有效性.
英文摘要：
Choosing the direction cosine matrix as attitude parameter,the system model of GPS/gyro integrated attitude determination were established,A matrix Kalman filter algorithm based on the model was proposed.The system model is of the following characteristics：The observational model is linear,which avoid the error of linearization; the redundancy problem is involved in the description of attitude parameter.For this reason,an orthogonalization method based Lagrange multiplier was presented,which was used to fix the float solution of direction cosine matrix.The simulation results showed the feasibility and validity of the proposed algorithm.
同期刊论文项目
同项目期刊论文
期刊信息
位置：