CAJ | 학술논문

针对动中通系统低成本姿态估计计算复杂、易受侧滑角和机动加速度等外界因素干扰的问题，提出一种基于超球体采样无迹卡尔曼滤波算法，融合微机械陀螺、加速度计和单基线 GPS，对载体姿态进行精确估计。为了提高姿态估计的实时性，采用超球体采样减少无迹卡尔曼滤波器的采样点数量，在不影响精度的前提下，有效降低了算法的计算量；此外，加速度计姿态角测量值在加速、转弯行驶过程中会受到机动加速度的影响，为解决这一问题，通过单基线 GPS 提供的速度、侧滑角信息进行机动加速度补偿。行车实验表明，提出的低成本姿态估计方法估计精度较高，在降低成本的同时能够满足宽带移动卫星通信波束对准要求。
침대동중통계통저성본자태고계계산복잡、역수측활각화궤동가속도등외계인소간우적문제，제출일충기우초구체채양무적잡이만려파산법，융합미궤계타라、가속도계화단기선 GPS，대재체자태진행정학고계。위료제고자태고계적실시성，채용초구체채양감소무적잡이만려파기적채양점수량，재불영향정도적전제하，유효강저료산법적계산량；차외，가속도계자태각측량치재가속、전만행사과정중회수도궤동가속도적영향，위해결저일문제，통과단기선 GPS 제공적속도、측활각신식진행궤동가속도보상。행차실험표명，제출적저성본자태고계방법고계정도교고，재강저성본적동시능구만족관대이동위성통신파속대준요구。
The low-cost attitude estimation algorithm for Sitcom-on-the-Move (SOTM) system is usually complicated,and easily affected by the maneuvering acceleration and the sideslip angle.To solve the problems,we proposed an algorithm based on the spherical simplex transformation Unscented Kalman Filter (UKF),which fused the information from micromechanical gyroscope,accelerator and GPS for estimating the attitude accurately.To improve the real-time performance,the filter used the spherical simplex transformation to reduce the number of sigma points for speeding up the calculation,reducing the computation load and providing better filtering performance.The GPS-measured velocity was used to compensate for the maneuvering acceleration,and the sideslip angle was used to further correct the maneuvering acceleration when the vehicle was turning.Experimental results show that the low-cost attitude estimation algorithm is feasible for attitude stabilization of SOTM in both pitch angle and roll angle with accuracy of ±0.5°.