测控技术2025，Vol.44Issue(12)：44-49,6.DOI:10.19708/j.ckjs.2025.12.268
基于简化多项式插值滤波的姿态估计
Attitude Estimation Based on Simplified Divided Difference Filter
摘要
Abstract
To improve the accuracy of attitude estimation with micro-electro-mechanical system(MEMS)sen-sors,the MEMS sensors combination attitude determination system method and the simplified divided difference filter(SDDF)fusion algorithm are studied.Taking quaternion and drift bias of gyroscopes as state vector,a combined attitude determination model based on gyroscope,accelerometer,and magnetometer is established.Divided difference filter(DDF)does not need to calculate the Jacobian matrix of the function,and its perform-ance is consistent with the nonlinear attitude estimation algorithm based on second-order Taylor series approxi-mation.SDDF is used to estimate the additive noise characteristics of the system,which can reduce computa-tional complexity and effectively estimate the attitude and drift error of gyroscope.Simulation results show that SDDF has higher estimation accuracy than extended Kalman filter(EKF)and gets more accurate attitude meas-urement results.关键词
姿态估计/多传感器/非线性滤波/简化多项式插值滤波/四元数Key words
attitude estimation/multi-sensors/nonlinear filter/SDDF/quaternion分类
信息技术与安全科学引用本文复制引用
沈晓卫,常瑞花,王道平..基于简化多项式插值滤波的姿态估计[J].测控技术,2025,44(12):44-49,6.基金项目
国家自然科学基金(61179005) （61179005）
