CAJ | 학술논문

提出了适用于航天飞行器单点实时姿态估计的间接姿态估计算法(IRQE).该算法在精度上与目前使用的算法(QUEST)相同,而计算速度更快,并且没有奇异.通过协方差分析证明:在给定权系数和测量误差为零均值高斯噪声假设下,IRQE算法得到的姿态估计既是最小方差估计,又是极大似然估汁;同时,其方差达到了Cramer-Rao下界,这意味着其精度在所有无偏估计中最佳.
제출료괄용우항천비행기단점실시자태고계적간접자태고계산법(IRQE).해산법재정도상여목전사용적산법(QUEST)상동,이계산속도경쾌,병차몰유기이.통과협방차분석증명:재급정권계수화측량오차위령균치고사조성가설하,IRQE산법득도적자태고계기시최소방차고계,우시겁대사연고즙;동시,기방차체도료Cramer-Rao하계,저의미착기정도재소유무편고계중최가.
This paper presents an Indirect Rodrigues-Quaternion Estimator (IRQE) for single-point real-time space-craft attitude estimation using vector observations. IRQE algorithm provides the identical accuracy as QUEST, but has faster computational speed and presents no singularity. Covariance analysis shows that, for an appropriate choice of weights and zero-mean Gaussian noise, IRQE is both the minimum variance estimator and maximum likelihood estimator of attitude, and its variance reaches the Cramer-Rao lower bound, which is the minimal achievable variance for all unbiased estimators.