华中科技大学学报（自然科学版）2017，Vol.45Issue(1)：82-86,5.DOI:10.13245/j.hust.170115
基于双姿态的高阶罗德里格斯参数姿态估计
Dual attitude representations based attitude estimation using high order Rodrigues parameter
摘要
Abstract
Aiming at the problems that modeling singularity for high order Rodrigues parameter (HORP) and large amount of calculation for quaternion‐based attitude estimator ,a dual attitude rep‐resentations based attitude estimator using HORP was proposed .In the proposed attitude estimator , the attitude representation can be switched to quaternion based model w hen the HORP is singular to address the HORP modeling singularty .Then ,the attitude representation can be switched to HORP when the HORP is not singular through some criterions to mitigate calculation burden .The river test proves the validation of proposed attitude estimator compared with quaternion based attitude estima‐tor .The amount of calculation is reduced by 26 .27% under the same calculation accuracy .关键词
姿态估计/高阶罗德里格斯参数/四元数/卡尔曼滤波/奇异值避免Key words
attitude estimation/high order Rodrigues parameter/quaternion/Kalman filter/singu-larity avoidance分类
交通工程引用本文复制引用
陈永冰,李文魁,周岗,刘勇..基于双姿态的高阶罗德里格斯参数姿态估计[J].华中科技大学学报（自然科学版）,2017,45(1):82-86,5.基金项目
国家自然科学基金资助项目（41474061，41274013）． （）
