Vehicle platform attitude estimation method based on adaptive Kalman filter and sliding window least squares

Luo Jun; Fan Yongkun; Jiang Ping; He Zijian; Xu Peng; Li Xin; Yang Wei; Zhou Wenlin; Ma Sen

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Vehicle platform attitude estimation method based on adaptive Kalman filter and sliding window least squares

机译：基于自适应卡尔曼滤波器和滑动窗口最小二乘的车辆平台姿态估计方法

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摘要

Precision instrument measurement on an unstable platform is a difficult engineering problem, and the commonly used method is to compensate the instrument measurement results through platform attitude estimation. This paper derives a three-dimensional attitude estimation method based on inertial sensors including gyroscope and inclinometer. In order to deal with the inertial sensor noise, low-pass filter, Kalman filter, adaptive Kalman filter (AKF) and sliding window least squares (SWLS) are chosen to test the filtering performance from the frequency domain perspective. Practical filtering experiments indicate that AKF achieves the best filtering performance for gyroscope, while SWLS has the best filtering performance for inclinometer. Using AKF and SWLS to deal with inertial sensor outputs, the attitude estimation of the vehicle platform is realized. The proposed method is verified on vehicle-mounted electro-optical measurement equipment.

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来源
《Measurement Science & Technology》 |2021年第3期|共9页
作者
Luo Jun; Fan Yongkun; Jiang Ping; He Zijian; Xu Peng; Li Xin; Yang Wei; Zhou Wenlin; Ma Sen;
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作者单位

Chinese Acad Sci Inst Opt &

Elect Chengdu 610209 Peoples R China;

Sichuan Vocat &

Tech Coll Commun Chengdu 611130 Peoples R China;

Chinese Acad Sci Inst Opt &

Elect Chengdu 610209 Peoples R China;

Jiuquan Satellite Launch Ctr Jiuquan 735400 Peoples R China;

Jiuquan Satellite Launch Ctr Jiuquan 735400 Peoples R China;

Chinese Acad Sci Inst Opt &

Elect Chengdu 610209 Peoples R China;

Chinese Acad Sci Inst Opt &

Elect Chengdu 610209 Peoples R China;

Chinese Acad Sci Inst Opt &

Elect Chengdu 610209 Peoples R China;

Jiuquan Satellite Launch Ctr Jiuquan 735400 Peoples R China;

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原文格式 PDF
正文语种 eng
中图分类仪器、仪表;
关键词
attitude estimation; adaptive Kalman filter; sliding window least squares; inertial sensors;

机译：姿态估计;自适应卡尔曼滤波器;滑动窗口最小二乘;惯性传感器;

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Vehicle platform attitude estimation method based on adaptive Kalman filter and sliding window least squares

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