CAJ | 학술논문

针对基于视觉的编队导航系统的导航参数估计问题，开展了确定采样滤波器对导航参数的估计研究。根据僚机体坐标系下的编队运动方程和视觉量测方程，建立了适用于确定采样滤波器的系统状态方程和量测方程。针对采样点不能满足姿态四元数的归一化要求，采用无约束的罗德里格参数代替四元数进行采样，选择的采样点能够满足编队导航系统的要求。采用3阶采样点的确定采样型滤波器对编队导航状态进行估计。UKF和CKF由于分别存在中心采样点权值过大和非局部效应而导致滤波发散，因此通过正交变换的方法对非局部效应进行修正，实现了估计误差的稳定收敛。通过仿真验证表明，提出的改进方法能够满足编队导航状态估计的要求。
침대기우시각적편대도항계통적도항삼수고계문제，개전료학정채양려파기대도항삼수적고계연구。근거료궤체좌표계하적편대운동방정화시각량측방정，건립료괄용우학정채양려파기적계통상태방정화량측방정。침대채양점불능만족자태사원수적귀일화요구，채용무약속적라덕리격삼수대체사원수진행채양，선택적채양점능구만족편대도항계통적요구。채용3계채양점적학정채양형려파기대편대도항상태진행고계。UKF화CKF유우분별존재중심채양점권치과대화비국부효응이도치려파발산，인차통과정교변환적방법대비국부효응진행수정，실현료고계오차적은정수렴。통과방진험증표명，제출적개진방법능구만족편대도항상태고계적요구。
To solve the problem existing in navigation parameter estimation for formation navigation system based on vi?sion,the estimation of navigation parameter by the determine sampling type filter is studied. According to the formation motion equation and vision measuration equation in body frame of wing plane,the systematical state equation and measuration equation suitable for the determination sampling type filter are established. In consideration that the sampling point can not meet the nor?malization demand of attitude quaternion,the unrestraint Rodrigues parameter is used to replace quaternion. The sampling point selected by it can meet the demand of formation navigation system. The determination sampling type filter with third?order sam?pling point is used for the estimation of formation navigation state. Since the centre sampling point weight of UKF is oversize, and CKF has non?local effect,which may lead to filter divergence,a method of orthogonal conversion is used to correct non?lo?cal effect to realize stable convergence of evaluated error. Simulation results are given to prove the technique.