CAJ | 학술논문

针对飞行器长时间飞行时，低精度陀螺、加速度计和磁强计组成的航姿系统容易受到运动加速度的影响而导致姿态精度较低，甚至发散的问题，将载体机动加速度描述为当前统计模型，将目前常用的6状态无迹卡尔曼滤波扩展为9状态，其状态变量包括3个修正罗德里格参数、三轴陀螺零偏误差和三轴载体机动加速度，量测量为三轴加速度计输出和三轴磁强计输出。实验结果表明，当飞行器长时间机动飞行时，9状态无迹卡尔曼滤波可以估计载体的机动加速度，保证姿态测量精度。
침대비행기장시간비행시，저정도타라、가속도계화자강계조성적항자계통용역수도운동가속도적영향이도치자태정도교저，심지발산적문제，장재체궤동가속도묘술위당전통계모형，장목전상용적6상태무적잡이만려파확전위9상태，기상태변량포괄3개수정라덕리격삼수、삼축타라령편오차화삼축재체궤동가속도，량측량위삼축가속도계수출화삼축자강계수출。실험결과표명，당비행기장시간궤동비행시，9상태무적잡이만려파가이고계재체적궤동가속도，보증자태측량정도。
When an aircraft keeps flying for a long time,the external acceleration may affect the accelerometer output and result in lower position precision,even divergence problem of attitude and heading system,which is composed of low-precision gyroscope,accelerometer and magnetometer .To solve the problem,the external acceleration description is taken as current statistical model .The commonly used 6-state UKF is extended to 9-state,and the state variables include three modified Rodrigues parameters ( MRPs ),three-axis gyroscopes bias and three-axis external acceleration .The measurements include the outputs of three-axis accelerometer and three-axis magnetometer .The experimental results show that 9-state UKF can estimate the three-axis external accelerations and guarantee the accuracy of positioning measurement .