| 朱付涛.航姿参考系统的姿态估计方法研究[J].电子测量与仪器学报,2023,37(6):240-246 |
| 航姿参考系统的姿态估计方法研究 |
| Research of orientation determination method in AHRS |
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| DOI： |
| 中文关键词: 通用 sigma 点集确定方法 n+2sigma 点集 MIMUs 非线性测量函数。 |
| 英文关键词:general method of sigma points set determination n+2 sigma points set MIMU nonlinear drift function |
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| 中文摘要: |
| 在行人的运动关节处安装航姿参考系统(AHRS),可以确定行人的运动姿态。 目前的姿态确定算法仍存在精度不足的
问题。 本文设计了一种基于最小 sigma 点集的平方根无迹卡尔曼滤波( SRUKF)算法,具有较高的滤波精度和较好的快速性。
针对算法核心 sigma 点集的确定问题,研究协方差矩阵高阶矩的匹配方法。 提出了基于 n+2 点集的 SRUKF 滤波算法,保留了
n+1 点集的快速性,同时具有 2n+1 点集的精度。 即在 sigma 点集具有 L 阶精度时,协方差矩阵具有 L / 2 阶精度,特别的,当
sigma 点集具有 2 阶精度时,协方差矩阵也具有 2 阶精度。 分析了具有非线性测量函数时滤波迭代的稳定性。 完成了基于标准
测试数据的姿态确定对比实验,实验中姿态精度与 2n+1 点集相仿,而运行时间与 n+1 点集相仿。 实验结果表明,利用基于最
小 sigma 点集的 SRUKF 算法可以很好的实现航姿参考系统的姿态估计。 |
| 英文摘要: |
| Attitude and heading reference system (AHRS) can be mounted at Human body to sense and determine the orientation of
Human in motion. The algorithms of orientation determination in literature still have problems of insufficient precision. Thus, we design
a square root unscented Kalman filter (SRUKF) based on minimum sigma points set with high precision and good rapidity. To cope with
the problem of sigma points set determination, we survey the matching method of higher moments than 2 in covariance matrix. As a
result, we propose a SRUKF algorithm based on n+2 sigma points set, which retains rapidity of n+1 sigma points set, and also achieves
the precision of 2n+1 set. The covariance matrix of sigma points reaches the L / 2 order approximation of original function if the sigma
points have L order precision. Particularly, the covariance reaches 2th order if the sigma points have 2th order precision. Furthermore,
we analyses the convergence of the filter process step by step with nonlinear drift function. The simulation using a standard experimental
data is conducted in comparison with other filters. The orientation precision is similar to that of 2n+1 while the execution time is similar
to that of n+1. The results demonstrate that the designed algorithm could achieve stable and reliable orientation determination of AHRS. |
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