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中文摘要：
针对动中通系统低成本姿态估计问题,提出了一种基于扩展卡尔曼滤波的姿态估计算法。该算法以四元数作为状态变量,通过融合陀螺、加速度计以及单基线GPS位置和速度信息估计载体的姿态信息。针对载体机动加速度的影响,通过单基线GPS提供的速度信息对载体的机动加速度进行初步补偿;当载体发生转弯时,利用侧滑角补偿法进一步校正。实验结果表明,该算法成功融合了陀螺的短时精确性、加速度计的长时稳定性和GPS精确的测速和定位功能,系统的动态估计精度在±0.5°内,满足了动中通的应用要求。
英文摘要：
A low-cost attitude estimation method using Extended Kalman Filter （EKF） was proposed for satcom-on-the-move （SOTM）, which taking Quaternion as state variables, and the attitude information was estimated by fusing the angular output of gyros, the acceleration output of accelerometers and the position and velocity output of two-antenna GPS. The GPS-measured velocity was used to compensate for the maneuvering acceleration, and the sideslip angle was used to further correct the maneuvering acceleration when the vehicle was turning. Experiment results show that the proposed method can combine together the good short-term accuracy of gyros, the good long-term stability of accelerometers, and the precise position and velocity of GPS, which is feasible for attitude stabilization of SOTM with the dynamic estimation error controlled within ± 0.5 °.
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