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Research on Attitude Updating Algorithm Based on Modified Rodrigues Parameters for Low cost Attitude and Heading Reference System

机译：基于改进的Rodrigues参数的低成本姿态和标题参考系统的姿态更新算法研究

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摘要

An all-attitude estimation algorithm for low cost attitude and heading reference system using extended Kalman filter based on modified Rodrigues parameters is designed. Aiming at the shortage of redundancy when using quaternion to describe attitude, modified Rodrigues parameters which are a three-dimensional independent vector are proposed for attitude representation. By switching between the modified Rodrigues parameters and their shadow parameters, the problem of singularity is solved. Considering the characteristics of the sensors of the system the estimation algorithm is established with gyroscope bias and modified Rodrigues parameters as state vector and the outputs of accelerometer and magnetometer as observation vectors, which is avoid the state error covariance matrix coming into being singularity. At last an all-attitude numerical simulation and an swing movement numerical simulation are used to demonstrate the efficacy of the algorithm.
机译：设计了一种基于改进的Rodrigues参数的扩展卡尔曼滤波器的低成本姿态和标题参考系统的全姿态估计算法。旨在在使用四元度描述态度时冗余的缺乏，提出了一种用于姿态表示的三维独立向量的修改rodrigues参数。通过在改进的罗德里格参数和阴影参数之间切换，解决了奇点的问题。考虑到系统的传感器的特性，用陀螺仪偏置和改进的罗德里格参数建立估计算法，作为状态矢量和加速度计和磁力计的输出，作为观察向量，这避免了状态误差协方差矩阵作为奇点。最后，All-姿态数值模拟和摆动运动数值模拟用于展示算法的功效。

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