上海航天2011，Vol.28Issue(4)：27-32,6.
刚体姿态估计的类Rodrigues参数算法研究
Rigid Body Attitude Estimation Algorithm Based on Similar Rodrigues Parameter
杨永 1张根宝 1宁小磊 2陈连华2
作者信息
- 1. 陕西科技大学电气与信息工程学院,陕西西安710021
- 2. 第二炮兵工程学院,陕西西安710025
- 折叠
摘要
Abstract
In order to get rid of the limitation of Rodrigues parameter represents rigid body attitude, similar Rodrigues parameters were proposed for attitude determination in this paper, which would avoid singularity that appeared in Rodrigues parameters and modified Rodrigues parameters at π- π, 2π, -2π in definition. A simple derivation of similar Rodrigues parameters based attitude kinematics equation was presented. Coordinate transformation using similar Rodrigues parameters was given. The property and operation of similar Rodrigues parameters were discussed. The exclusion of attitude representation based on similar Rodrigues parameters was proved. The relationship of similar Rodrigues parameters with other attitude representation, such as Euler angle, quaternion, rotation vector and direction cosine matrix were also provided. A recursive solution of similar Rodrigues parameters was given to attitude algorithm to facilitate its application in SINS. The simulation results of some standard ballistic tracer which generated from STK in Matlab software showed that the attitude estimation algorithm using similar Rodrigues parameter could avoid the occurrence of singularity and was more efficient on calculations than widely used quaternion based kinematics equation, which was an important significance in theory and reference.关键词
姿态估计/类Rodrigues参数/Rodrigues参数Key words
Attitude estimation/Similar Rodrigues parameter/Rodrigues parameter分类
航空航天引用本文复制引用
杨永,张根宝,宁小磊,陈连华..刚体姿态估计的类Rodrigues参数算法研究[J].上海航天,2011,28(4):27-32,6.
