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首页> 外文期刊>Aerospace and Electronic Systems, IEEE Transactions on >RodFIter: Attitude Reconstruction From Inertial Measurement by Functional Iteration
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RodFIter: Attitude Reconstruction From Inertial Measurement by Functional Iteration

机译：RodFIter：通过功能迭代从惯性测量中重构姿态

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摘要

Rigid motion computation or estimation is a cornerstone in numerous fields. Attitude computation can be achieved by integrating the angular velocity measured by gyroscopes, the accuracy of which is crucially important for the dead-reckoning inertial navigation. The state-of-the-art attitude algorithms have unexceptionally relied on the simplified differential equation of the rotation vector to obtain the attitude. This paper proposes a functional iteration technique with the Rodrigues vector (named the RodFIter method) to analytically reconstruct the attitude from gyroscope measurements. The RodFIter method is provably exact in reconstructing the incremental attitude as long as the angular velocity is exact. Notably, the Rodrigues vector is analytically obtained and can be used to update the attitude over the considered time interval. The proposed method gives birth to an ultimate attitude algorithm scheme that can be naturally extended to the general rigid motion computation. It is extensively evaluated under the attitude coning motion and compares favorably in accuracy with the mainstream attitude algorithms. This paper is believed having eliminated the long-standing theoretical barrier in exact motion integration from inertial measurements.
机译：刚性运动的计算或估计是许多领域的基石。可以通过对陀螺仪测量的角速度进行积分来实现姿态计算，其精确度对于惯性导航惯性导航至关重要。最先进的姿态算法毫无例外地依靠旋转矢量的简化微分方程来获得姿态。本文提出了一种使用Rodrigues向量的函数迭代技术（称为RodFIter方法）来从陀螺仪测量中解析地重建姿态。只要角速度精确，RodFIter方法在重构增量姿态方面就可以证明是精确的。值得注意的是，罗德里格斯（Rodrigues）向量是通过解析获得的，可用于在考虑的时间间隔内更新姿态。所提出的方法催生了最终的姿态算法方案，该方案可以自然地扩展到一般的刚性运动计算。它在姿态锥运动下得到了广泛的评估，并且在准确性上与主流姿态算法相当。相信本文已从惯性测量中消除了精确运动积分中的长期理论障碍。

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